Change knee low level PID

robotology · Jul 19, 2022 · 4532ecb · 4532ecb
1 parent 80ce9f8
commit 4532ecb
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini
@@ -15,8 +15,8 @@ useGainScheduling           0
 [DEFAULT]
 #NAME                P     I      D
 #torso_pitch         5.0   1.0    0.5
-l_knee             -25000.0  -1000.0   0.0
-r_knee              25000.0   1000.0   0.0
+l_knee             -30000.0  -1000.0   0.0
+r_knee              30000.0   1000.0   0.0
 l_ankle_pitch      -15000.0  -1000.0   0.0
 r_ankle_pitch       15000.0   1000.0   0.0
 l_ankle_roll        -8000.0  -1000.0   0.0