walk_tuner

walk_tuner Intro

walk_tuner is an application used to tune parameter's of the walking gait used by the robot. The robot's various walking gait parameters can be adjusted while the robot is walking, and the settings can be saved to the config.ini file, found here: /HROS1-Framework/Data/config.ini

Currently, the HR-OS1 config.ini file is tuned for a bare endoskeleton configuration on low pile carpet. This walking configuration is still in development and will receive periodic updates along with other configurations for different floor surface types and robot configurations.

You must support the robot when launching walk_tuner, it will attempt to stand via Walking alone without first going to a slower Action animation, this will be fixed soon

walk_tuner Modifiable Parameter List

• Walking Mode(on/off)
• X offset(mm)
• Y offset(mm)
• Z offset(mm)
• Roll(x) offset(degree)
• Pitch(y) offset(degree)
• Yaw(z) offset(degree)
• Hip pitch offset(degree)
• Auto balance(on/off)
• Period time(msec)
• DSP ratio
• Step forward/back ratio

Walking Gait Control Parameters

• Step forward/back(mm)
• Step right/left(mm)
• Step direction(degree)
• Turning aim(on/off)
• Foot height(mm)

Torso COG Movement

• Swing right/left(mm)
• Swing top/down(mm)
• Pelvis offset(degree)
• Arm swing gain

IMU gain parameters

• Balance knee gain
• Balance ankle pitch gain
• Balance hip roll gain
• Balance ankle roll gain

Unused values left over from MX Dynamixels

• P gain
• I gain
• D gain

config.ini Example

[Walking Config]

• x_offset=-10.000000
• y_offset=10.000000
• z_offset=30.000000
• roll_offset=-0.000000
• pitch_offset=-0.000000
• yaw_offset=0.000000
• hip_pitch_offset=12.5000000
• period_time=581.000000
• dsp_ratio=0.420000
• step_forward_back_ratio=0.250000
• foot_height=36.000000
• swing_right_left=10.600000
• swing_top_down=5.000000
• pelvis_offset=3.000000
• arm_swing_gain=1.500000
• balance_knee_gain=0.035000
• balance_ankle_pitch_gain=0.035000
• balance_hip_roll_gain=0.07000
• balance_ankle_roll_gain=0.07000
• balance_angle_smooth_gain=0.03000
• balance_angle_gain=0.030000
• lean_fb_gain=0.000000
• lean_fb_accel_gain=0.000000
• lean_turn_gain=0.000000
• start_step_factor=0.000000
• p_gain=32
• i_gain=0
• d_gain=0

walk_tuner Commands

• exit: Exits the program
• re: Refreshes the screen
• save: Saves any changes made
• mon: Monitor gyro/acc sensor

Additional Documentation and Reference

Robotis Documentation on walk_tuner