Safety
Kill the walk task when lifted
To stop the robot walking in the air, the FSRs are read to see if there is ground contact. When there is no ground contact, the walk task is killed if is running, and not allowed to start if absent. This feature relies on the FSR extractor of the Sensors module, which is responsible for updating the memory key:
- extractors/alfsr/footContact
By default, this feature is active. To remove this feature, follow this procedure:
# Deactivate the foot contact protection proxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION",False]]) # Or for change the default value, # define the new value of the key ENABLE_FOOT_CONTACT_PROTECTION # in ALMotion.xml preference file
Kill the walk task when the stiffness is low on at least one leg joint
If the walk process is launched and the robot has stiffness off, our algorithm to solve the dynamics of the walk fails. This is due to the closed loop, where we inject sensor information into the algorithm. When there is no stiffness, the command and sensor values diverge. To prevent this, the walk process will be killed or prevented from launching, if one joint of the legs has a stiffness equal or less than 0,6.
By default, this feature is active. To remove this feature, follow this procedure:
# Deactivate the foot contact protection proxy.setMotionConfig([["ENABLE_STIFFNESS_PROTECTION",False]]) # Or for change the default value, # define the new value of the key ENABLE_STIFFNESS_PROTECTION # in ALMotion.xml preference file