How to simulate a solid surface on which the robot will be able to walk?
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Hi!
1. I'm trying to make a model of a walking robot 2. Something I have already done: http://youtu.be/e4SOxFKGf8o
3. But I find it difficult to choose the type of modeling surface reactions on the legs of the robot.
4. How can I simulate a solid surface, on which the robot will be able to walk?
5. When crossing imaginary floor by a point of contact create a controlled force on this point?
Please help!
Thank you in advance!
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Guy Rouleau
le 12 Déc 2012
Contact dynamics is a complex topic, there no magic easy solution that fits all problem.
In general I usually try to approach of a spring+damper active only when you penetrate the surface. You can separably compute normal and longitudinal/lateral forces.
I recommend looking at this submission:
SimMechanics would be great for your application, but even if you don't use it, this should give you some inspiration.
Another one is here:
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