I currently watch the expirment video you did on Bolt for thousand times.
The video is :a set of new tests on Bolt
It is really impressive that all joints of Bolt seems stiff enough to support dynamic walking,and not shocking.
I am currently trying to do the sim2real job on Bolt,but the joints are not stiff enough and may shock if increase the PD parameters.
Would you mind sharing the PD parameters using in the expirement,this can help me a lot.
BTW,do you do any filtering for joint velocity?Like low-pass filter etc…
Thanks very much!