When I loaded the model into gazebo, after I clicked the pause button, the model fell into the ground, became a mess, and seemed to overlap left and right, as shown in the figure below. And when I changed the damping friction, the robot was difficult to control and seemed to be very unsmooth.
enter image description here
enter image description here
I have checked that the urdf file is correct and the controller is correct. I just changed the parameter and the robot became like this. This problem has been bothering me for a long time.
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="yuquan"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find robot_description_v2)/urdf/transmission.xacro"/>
<xacro:include filename="$(find robot_description_v2)/urdf/gazebo.xacro"/>
<xacro:property name="damping_value" value="3.10" />
<xacro:property name="friction_value" value="1.10" />
<xacro:if value="$(arg DEBUG_YUQUAN)">
<link name="world"/>
<joint name="base_static_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
</xacro:if>
<link name="base_link">
<inertial>
<origin
xyz="0.031702 9.0654E-05 -0.2408" rpy="0 0 0" />
<mass
value="5.245" />
<inertia
ixx="0.071581" ixy="-1.26E-06" ixz="-0.000387674" iyy="0.010663975" iyz="-1.67E-05" izz="0.074910789" />
</inertial>
<visual>
<origin
xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/base_link.dae" />
</geometry>
<material
name="">
<color
rgba="0.64314 0.56078 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/base_link.dae" />
</geometry>
</collision>
</link>
<link
name="L_hip_Link">
<inertial>
<origin
xyz="-0.10126 1.8753E-05 -0.072211"
rpy="0 0 0" />
<mass
value="2.5221" />
<inertia
ixx="0.0058115"
ixy="-7.58E-06"
ixz="0.0032614"
iyy="0.010053"
iyz="1.86E-05"
izz="0.0076041" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_hip_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.28627 0.66275 0.32941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_hip_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="L_hip_joint"
type="revolute">
<origin
xyz="0 0.105 -0.17"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="L_hip_Link" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="L_hip2_Link">
<inertial>
<origin
xyz="0.079457 0.0068232 0.00011456"
rpy="0 0 0" />
<mass
value="2.3619" />
<inertia
ixx="0.0034092"
ixy="0.00015612"
ixz="-2.33E-05"
iyy="0.0043191"
iyz="1.61E-05"
izz="0.0042029" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_hip2_Link.dae" />
</geometry>
<material
name="">
<color
rgba="1 0 0.50196 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_hip2_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="L_hip2_joint"
type="revolute">
<origin
xyz="-0.091 0 -0.09"
rpy="0 0 0" />
<parent
link="L_hip_Link" />
<child
link="L_hip2_Link" />
<axis
xyz="1 0 0" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="L_thigh_Link">
<inertial>
<origin
xyz="0.0036773 0.0023572 -0.14985"
rpy="0 0 0" />
<mass
value="3.5738" />
<inertia
ixx="0.039141"
ixy="-8.43E-05"
ixz="-0.0021682"
iyy="0.039089"
iyz="-0.00092606"
izz="0.0083235" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_thigh_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_thigh_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="L_thigh_joint"
type="revolute">
<origin
xyz="0.091 0 0"
rpy="0 -0.3236 0" />
<parent
link="L_hip2_Link" />
<child
link="L_thigh_Link" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="L_calf_Link">
<inertial>
<origin
xyz="0.0070583 -0.0010487 -0.13945"
rpy="0 0 0" />
<mass
value="2.6351" />
<inertia
ixx="0.022592"
ixy="-3.27E-05"
ixz="0.00012856"
iyy="0.022319"
iyz="0.00030619"
izz="0.0028682" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_calf_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_calf_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="L_calf_joint"
type="revolute">
<origin
xyz="0 0 -0.4"
rpy="0 0.6472 0" />
<parent
link="L_thigh_Link" />
<child
link="L_calf_Link" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="L_toe_Link">
<inertial>
<origin
xyz="1.2891E-16 8.7014E-15 -0.013338"
rpy="0 0 0" />
<mass
value="0.87997" />
<inertia
ixx="0.00015285"
ixy="0"
ixz="0"
iyy="0.00015388"
iyz="0"
izz="3.6221E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_toe_Link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_toe_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="L_toe_joint"
type="revolute">
<origin
xyz="0 0 -0.4"
rpy="0 -0.3036 0" />
<parent
link="L_calf_Link" />
<child
link="L_toe_Link" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="L_toe2_Link">
<inertial>
<origin
xyz="0.031026 -5.4418E-05 -0.051428"
rpy="0 0 0" />
<mass
value="0.97299" />
<inertia
ixx="0.0010393"
ixy="1.93E-06"
ixz="-0.00046374"
iyy="0.0053103"
iyz="-8.1E-07"
izz="0.0053431" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_toe2_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/L_toe2_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="L_toe2_joint"
type="revolute">
<origin
xyz="0 0 -0.024"
rpy="0 0 0" />
<parent
link="L_toe_Link" />
<child
link="L_toe2_Link" />
<axis
xyz="1 0 0" />
<limit
lower="-3.14"
upper="3.14"
effort="700"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="R_hip_Link">
<inertial>
<origin
xyz="-0.10125 -0.0003997 -0.072603"
rpy="0 0 0" />
<mass
value="2.5221" />
<inertia
ixx="0.0058459"
ixy="6.32E-05"
ixz="0.0033184"
iyy="0.010043"
iyz="-6E-07"
izz="0.0076471" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_hip_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.28627 0.66275 0.32941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_hip_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="R_hip_joint"
type="revolute">
<origin
xyz="0 -0.105 -0.17"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="R_hip_Link" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="R_hip2_Link">
<inertial>
<origin
xyz="0.079836 -0.0068232 0.00042847"
rpy="0 0 0" />
<mass
value="2.3619" />
<inertia
ixx="0.0034414"
ixy="-0.00019202"
ixz="-8.93E-06"
iyy="0.004339"
iyz="-4.59E-05"
izz="0.0041907" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_hip2_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.28627 0.66275 0.32941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_hip2_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="R_hip2_joint"
type="revolute">
<origin
xyz="-0.091 0 -0.09"
rpy="0 0 0" />
<parent
link="R_hip_Link" />
<child
link="R_hip2_Link" />
<axis
xyz="1 0 0" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="R_thigh_Link">
<inertial>
<origin
xyz="0.0055385 -0.003604 -0.14928"
rpy="0 0 0" />
<mass
value="3.5738" />
<inertia
ixx="0.039243"
ixy="7.76E-05"
ixz="-0.0024373"
iyy="0.039257"
iyz="0.0010148"
izz="0.0083113" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_thigh_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_thigh_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="R_thigh_joint"
type="revolute">
<origin
xyz="0.091 0 0"
rpy="0 -0.3236 0" />
<parent
link="R_hip2_Link" />
<child
link="R_thigh_Link" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="R_calf_Link">
<inertial>
<origin
xyz="0.0081421 0.001051 -0.13939"
rpy="0 0 0" />
<mass
value="2.6351" />
<inertia
ixx="0.022572"
ixy="2.7E-05"
ixz="-7.4E-05"
iyy="0.022337"
iyz="-0.00030447"
izz="0.0029066" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_calf_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_calf_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="R_calf_joint"
type="revolute">
<origin
xyz="0 0 -0.4"
rpy="0 0.6472 0" />
<parent
link="R_thigh_Link" />
<child
link="R_calf_Link" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="0.7"
friction="0.3" />
</joint>
<link
name="R_toe_Link">
<inertial>
<origin
xyz="-3.7779E-15 1.9984E-15 -0.013338"
rpy="0 0 0" />
<mass
value="0.87997" />
<inertia
ixx="0.00015285"
ixy="0"
ixz="0"
iyy="0.00015388"
iyz="0"
izz="3.6221E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_toe_Link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_toe_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="R_toe_joint"
type="revolute">
<origin
xyz="0 0 -0.4"
rpy="0 -0.3036 0" />
<parent
link="R_calf_Link" />
<child
link="R_toe_Link" />
<axis
xyz="0 1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="500"
velocity="500" />
<dynamics
damping="7"
friction="3" />
</joint>
<link
name="R_toe2_Link">
<inertial>
<origin
xyz="0.031026 -5.4416E-05 -0.051428"
rpy="0 0 0" />
<mass
value="0.97299" />
<inertia
ixx="0.0010393"
ixy="1.93E-06"
ixz="-0.00046374"
iyy="0.0053103"
iyz="-8.1E-07"
izz="0.0053431" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_toe2_Link.dae" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://robot_description_v2/dae/R_toe2_Link.dae" />
</geometry>
</collision>
</link>
<joint
name="R_toe2_joint"
type="revolute">
<origin
xyz="0 0 -0.024"
rpy="0 0 0" />
<parent
link="R_toe_Link" />
<child
link="R_toe2_Link" />
<axis
xyz="1 0 0" />
<limit
lower="-3.14"
upper="3.14"
effort="700"
velocity="500" />
<dynamics
damping="7"
friction="3" />
</joint>
</robot>
New contributor
huaizhi is a new contributor to this site. Take care in asking for clarification, commenting, and answering.
Check out our Code of Conduct.