Trouble with BWC Parameter Tuning

[EthanZengg]

Sorry for the mistake (#31). I switched the BWC controller as the Video: First, I increased the parameters by 10 times as described in this issue (#16) to ensure that the two models align(The robot has slight vibrations), even though their quality differences are not significant . Afterward, I attempted to make the robot step in place, as shown in the video, but the trajectory tracking performance appears poor.

Currently, the BWC has numerous parameters. Which ones should I focus on adjusting, especially dcmGainP and similar parameters? Could you offer any guidance or suggestions to assist me with this issue? Thanks a lot ！

2024-10-29.11-51-08.mp4

[mmurooka]

Unfortunately, the tuning of BWC parameters has not yet been systematically organized.

Before starting parameter tuning, please double-check that there are no problems with the model, etc., in accordance with the following document.
https://www.dropbox.com/scl/fi/vpn4hvbh1v037aubm4jjo/BaselineWalkingController-Tips.docx?rlkey=4t7fvb45tmvmlb23awb3ke5eo&st=fryrxj6w&dl=0

In particular, since the height of the sole in the initial posture does not seem to be zero, please double-check what is written in the following section.

Check that the initial pose of the base link is set properly

For controller tuning, dcmGainP is the most important parameter, as you mentioned.

There is also room for tuning the following parameters of the foot contact force control.

BaselineWalkingController/etc/BaselineWalkingController.in.yaml

Lines 117 to 137 in 27b0795

	impedanceGains:
	SingleSupport:
	damper:
	linear: [300, 300, 300]
	angular: [100, 100, 100]
	spring:
	linear: [2250, 2250, 2250]
	angular: [0, 0, 2000]
	wrench:
	linear: [0, 0, 0]
	angular: [1, 1, 0]
	DoubleSupport:
	damper:
	linear: [300, 300, 1e4]
	angular: [100, 100, 100]
	spring:
	linear: [2250, 2250, 0]
	angular: [0, 0, 2000]
	wrench:
	linear: [0, 0, 1]
	angular: [1, 1, 0]

[EthanZengg]

Thank you for the response! I’ll double-check the documentation. Meanwhile, do you have any tips on tuning the impedance gains? There are quite a few parameters, so it’s a bit overwhelming. For example, moving the robot's center of mass left and right to adjust parameters related to the y-direction. I’m not very experienced with this, so any tips would be really helpful!