Recently, we try to control the ball robot, but the model we constructed seems wrong,especially the friction between the ball and wheel. When we try to make the ballbot stand, the wheels seem slipping on the ball, making it hard for us to stable the robot. So we believe that we set the wheel friction parameters in a wrong way, maybe the direction of friction. Then we make the robot stable through changing the stiffness and damping parameter of contact of the ball. But it is still a little bit weird. I really need help for setting the friction parameter of the wheel. Thank you.
Issue #2335 new