• File: thormang3_walking_module_msgs/DampingBalanceParam.msg

• Message Definition

   float32 cob_x_offset_m
   float32 cob_y_offset_m

   float32 hip_roll_swap_angle_rad

   float32 gyro_gain

   float32 foot_roll_angle_gain
   float32 foot_pitch_angle_gain

   float32 foot_x_force_gain
   float32 foot_y_force_gain
   float32 foot_z_force_gain
   float32 foot_roll_torque_gain
   float32 foot_pitch_torque_gain

   float32 foot_roll_angle_time_constant
   float32 foot_pitch_angle_time_constant

   float32 foot_x_force_time_constant
   float32 foot_y_force_time_constant
   float32 foot_z_force_time_constant
   float32 foot_roll_torque_time_constant
   float32 foot_pitch_torque_time_constant

• Description These are the parameters used in the Balance Algorithm. Most algorithms are based on PD Control, therefore, gain and timeconstant are declared in pairs.

COB Offset

• ` float32 cob_x_offset_m`    x_offset of cob
• ` float32 cob_y_offset_m`    y_offset of cob

FeedForward

• ` float32 hip_roll_swap_angle_rad`    Feedforward of Hip Roll

Gain

• ` float32 gyro_gain`    Gain for the Gyro
• ` float32 foot_roll_angle_gain`    Gain for the Roll data acquired from the IMU
• ` float32 foot_pitch_angle_gain`    Gain for the Pitch data acquired from the IMU
• ` float32 foot_x_force_gain`    Gain for the Fx data acquired from the FT Sensor
• ` float32 foot_y_force_gain`    Gain for the Fy data acquired from the FT Sensor
• ` float32 foot_z_force_gain`    Gain for the Fz data acquired from the FT Sensor
• ` float32 foot_roll_torque_gain`    Gain for the Tx data acquired from the FT Sensor
• ` float32 foot_pitch_torque_gain`    Gain for the Ty data acquired from the FT Sensor

Time Constant

• ` float32 foot_roll_angle_time_constant`    Time constant for the Roll data acquired from the IMU
• ` float32 foot_pitch_angle_time_constant`    Time constant for the Pitch data acquired from the IMU
• ` float32 foot_x_force_time_constant`    Time constant for the Fx data acquired from the FT Sensor
• ` float32 foot_y_force_time_constant`    Time constant for the Fy data acquired from the FT Sensor
• ` float32 foot_z_force_time_constant`    Time constant for the Fz data acquired from the FT Sensor
• ` float32 foot_roll_torque_time_constant`    Time constant for the Tx data acquired from the FT Sensor
• ` float32 foot_pitch_torque_time_constant`    Time constant for the Tz data acquired from the FT Sensor