The swinging legs of the quadruped robot always turn outward. #52

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Zionshang opened this issue Apr 8, 2025 · 0 comments

Zionshang commented Apr 8, 2025

I've found that in all the examples of quadruped robots, the swinging legs always turn outward, that is, the y-direction tracking is very poor.

I plotted the tracking of the right front leg.

Although the tracking is very good when landing, it is very poor when flying.

No matter how I adjust the frame tracking weight, it doesn't help.

What could be the cause of this?

Is the aligator’s solving ability limited?
Is the frame’s tracking weight incorrect?
Is the optimization problem not constructed properly?

If you can help me, I will be grateful. I really hope that aligator will be widely promoted in the field of quadruped robots!

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