CMC ankle tracking

[Ryan Bakker]

Hello,

I am attempting to model a person landing from a jump on one leg.

I have reached, and ran CMC. The pError for the ankle on the landing foot is about 15 degrees. This seems to be a lower limit as I have tried a number of different simulations to reduce this error. I have tried increasing the ankle_r tracking weight by a couple thousand. I have decreased the tracking weight on the knee_r, hip_flexion_r, and ty in hopes that it will allow for more movement flexibility. All these do is increase the error of the respective joint and the ankle is still about 15 degrees off. I have also increased the ankle_r actuator excitation.

I am not able to even start CMC with fast tracking on as the program has an error and quits.

Does anybody have any suggestions on what to try next?

Thank you

[Ryan Bakker]

Turns out the issue is solved by increasing KV and KP for ankle tracking. My guess is because this is a particularly fast motion when compared to normal walking and cant keep up with the current control settings.