how to increase leg lift height when swing phase?

Thanks for your great code! Now I have a question, how to increase leg lift height when swing phase, walking on the flat floor?

You could increase the height of the range of motion constraint (blue boxes around the legs), which might cause the legs to be lifted higher (but not enforced). That's probably the easiest to try first.

Alternatively, you could add an additional line for the z-height here (you'll have to also update the Jacobian etc.) and add this constraint to the problem:

towr/towr/src/swing_constraint.cc

Line 73 in e125b35

g(row++) = curr.v()(dim) - des_vel_center(dim);

Hope this help!

Thanks for your quick reply. I tried the second as you said, but I forgot to update the jacobian. I will try it again. Thanks a lot again.

…

------------------ 原始邮件 ------------------ 发件人: "ethz-adrl/towr" <notifications@github.com>; 发送时间: 2020年10月16日(星期五) 凌晨2:04 收件人: "ethz-adrl/towr"<towr@noreply.github.com>; 抄送: "Eric Wang"<352376886@qq.com>;"Author"<author@noreply.github.com>; 主题: Re: [ethz-adrl/towr] how to increase leg lift height when swing phase? (#78) You could increase the height of the range of motion constraint (blue boxes around the legs), which might cause the legs to be lifted higher (but not enforced). That's probably the easiest to try first. Alternatively, you could add an additional line for the z-height here (you'll have to also update the Jacobian etc.) and add this constraint to the problem: https://github.com/ethz-adrl/towr/blob/e125b358ed53f9ded0572c9ebeb544e5f0bceb59/towr/src/swing_constraint.cc#L73 Hope this help! — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or unsubscribe.