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Fix walk acceleration #1514

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Fix walk acceleration #1514

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schluis
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@schluis schluis commented Nov 23, 2024

Why? What?

  • Now, also the backwards acceleration is limited
  • It's always still possible to directly stop
  • Reduces turn speed
    • When this is too high, the robot falls forwards when the hip-yaw-pitch opens
  • Reduces side-steps-size

How to Test

Let it walk

@schluis schluis enabled auto-merge November 23, 2024 23:14
@schluis schluis force-pushed the fix-walk-acceleration branch 3 times, most recently from a5a7bd3 to bd5ce02 Compare November 23, 2024 23:19
@schluis schluis force-pushed the fix-walk-acceleration branch from bd5ce02 to d25e667 Compare November 24, 2024 08:45
@philipniklas-r philipniklas-r mentioned this pull request Nov 28, 2024
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@knoellle knoellle

@Franziska-Sophie Franziska-Sophie

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@schluis @knoellle @Franziska-Sophie