bot gets unstable and blows away after some time

Official Python bindings with a focus on reinforcement learning and robotics.
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tayalmanan
Posts: 4
Joined: Thu Apr 23, 2020 2:36 am
Location: Surat, India

bot gets unstable and blows away after some time

Post by tayalmanan »

Hi everyone,
While I was trying simulating self balancing bot using PD control but it blows away after some time I spent a good amount of time figuring out what's the issue but I couldn't figure it out.

The video can be seen here :https://youtu.be/du6j9wXRQxY
1D motion.txt
The code of the above self balancing bot. Please help me if you are able to figure it out thanks
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tayalmanan
Posts: 4
Joined: Thu Apr 23, 2020 2:36 am
Location: Surat, India

Re: bot gets unstable and blows away after some time

Post by tayalmanan »

If my question is unclear let me explain this again:

The 2 wheeled bot gets unstable after some time and then it flies away. What does this mean, is my model stable or not? because it is working well in the starting but afterwards it flies off.

Is this problem faced by anyone else as well? or is it just happening in this case only?

Thanks in Advance
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Erwin Coumans
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Re: bot gets unstable and blows away after some time

Post by Erwin Coumans »

The urdf file is missing, so we cannot reproduce it.
tayalmanan
Posts: 4
Joined: Thu Apr 23, 2020 2:36 am
Location: Surat, India

Re: bot gets unstable and flies away after some time

Post by tayalmanan »

Please have a look at the file attached for reference
balance.txt
This is not a urdf file as I was not able to attach one. But the code is present in this txt file
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Thanks in Advance
steven
Posts: 83
Joined: Mon Nov 05, 2018 8:16 am
Location: China

Re: bot gets unstable and blows away after some time

Post by steven »

i find the velocity will oscillate and the amplitude will get bigger and bigger. i think it should be the issue of the PD parameters.
adding a velocity boundary of [-10,10] can fix this. just for your reference.
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