faq

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faq [2023/12/07 12:01] – [Using SCONE] thomasfaq [2023/12/07 12:02] (current) – [Using SCONE] thomas
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 Gaits are typically optimized for minimal effort or cost-of-transport, and it so happens that falling right at the end can be slightly more energy efficient than walking normally. To prevent this from happening, you can choose from a number of strategies: Gaits are typically optimized for minimal effort or cost-of-transport, and it so happens that falling right at the end can be slightly more energy efficient than walking normally. To prevent this from happening, you can choose from a number of strategies:
   * Increase the simulation time. By increasing the ''max_duration'' parameter, you reduce the chance of the model falling over, because at some point it will become impossible for the controller to exactly time the fall at the end. If you set the simulation time to 30s or more, the controller will be robust enough to go on indefinitely.   * Increase the simulation time. By increasing the ''max_duration'' parameter, you reduce the chance of the model falling over, because at some point it will become impossible for the controller to exactly time the fall at the end. If you set the simulation time to 30s or more, the controller will be robust enough to go on indefinitely.
-  * Disable the ''EffortMeasure'' at the end of the simulation. You can add an ''end_time'' setting to the [[ref:effort_measure]] to stop measuring 1s before the end of the simulation, removing the benefit of falling over right at the end. Falling earlier will result in a penalty in the [[ref:gait_measure]], so this won't be an alternative.+  * Disable the [[ref:effort_measure]] before the end of the simulation. You can add an ''end_time'' statement to the [[ref:effort_measure]] to stop measuring e.g. 1 second before the end of the simulation, removing the benefit of falling over right at the end. Falling even earlier will result in a penalty in the [[ref:gait_measure]], so this won't be an alternative.
   * Adding motor noise via the [[ref:noise_controller]]. Controllers are forced to choose a more robust control strategy when motor noise is added to the system. This is likely to result in more robust controllers that don't fall over at the end.   * Adding motor noise via the [[ref:noise_controller]]. Controllers are forced to choose a more robust control strategy when motor noise is added to the system. This is likely to result in more robust controllers that don't fall over at the end.
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