[ODE] Question about contacts
Ruslan Trifonov
r.trifonov at omegasoft.bg
Thu Dec 19 11:33:02 2002
This is a multi-part message in MIME format.
------=_NextPart_000_0012_01C2A79E.5D6F45C0
Content-Type: text/plain;
charset="koi8-r"
Content-Transfer-Encoding: quoted-printable
Hello,
I'm trying to make a 4 legged robot model with ODE. But I got a problem =
with the leg contacts.=20
The robot is moving very inaccurate and I think that's because I do not =
handle the leg contacts with the ground adequate. May be I should =
increase the "contact force" (friction maybe.. I do not know when to use =
friction and when to use slip) with the ground when a pushing leg is =
touching the ground and to reduce the "contact force" of the legs which =
do not push but only dragging over the ground. But I am not familiar =
with the contact.surface parameters although I read the ODE manual. =
That's because I am not so mach in physics sims.=20
So I'll appreciate if somebody help me with it. Some ideas, example, or =
additional manuals.
If somebody has experience plase give me an idea how to determine if =
particular leg is "pushing" or dragging or may be there is no sense to =
use these concepts ...=20
R.Trifonov
Software Engineer
Omegasoft Ltd.
mail: r.trifonov@omegasoft.bg
http://cgi-bin.spaceports.com/~rossy/Index.php
------=_NextPart_000_0012_01C2A79E.5D6F45C0
Content-Type: text/html;
charset="koi8-r"
Content-Transfer-Encoding: quoted-printable
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<HTML><HEAD>
<META http-equiv=3DContent-Type content=3D"text/html; charset=3Dkoi8-r">
<META content=3D"MSHTML 6.00.2715.400" name=3DGENERATOR>
<STYLE></STYLE>
</HEAD>
<BODY bgColor=3D#ffffff>
<DIV><FONT face=3DArial size=3D2>Hello,</FONT></DIV>
<DIV><FONT face=3DArial size=3D2>I'm trying to make a 4 legged =
robot model with=20
ODE. But I got a problem with the leg contacts. </FONT></DIV>
<DIV><FONT face=3DArial size=3D2>The robot is moving very inaccurate and =
I think=20
that's because I do not handle the leg contacts with the ground =
adequate. May be=20
I should increase the "contact force" (friction maybe.. I do not know =
when to=20
use friction and when to use slip) with the ground when a pushing leg is =
touching the ground and to reduce the "contact force" of the legs =
which do=20
not push but only dragging over the ground. But I am not familiar with =
the=20
contact.surface parameters although I read the ODE manual. That's =
because I am=20
not so mach in physics sims. </FONT></DIV>
<DIV><FONT face=3DArial size=3D2>So I'll appreciate if somebody help me =
with it.=20
Some ideas, example, or additional manuals.</FONT></DIV>
<DIV><FONT face=3DArial size=3D2>If somebody has experience plase give =
me an idea=20
how to determine if particular leg is "pushing" or dragging or may be =
there is=20
no sense to use these concepts ... </FONT></DIV>
<DIV><FONT face=3DArial size=3D2></FONT> </DIV>
<DIV><FONT face=3DArial size=3D2></FONT> </DIV>
<DIV><FONT face=3DArial size=3D2></FONT> </DIV>
<DIV><FONT face=3DArial size=3D2>R.Trifonov<BR>Software =
Engineer<BR>Omegasoft=20
Ltd.<BR>mail: <A=20
href=3D"mailto:r.trifonov@omegasoft.bg">r.trifonov@omegasoft.bg</A><BR><A=
=20
href=3D"http://cgi-bin.spaceports.com/~rossy/Index.php">http://<A=20
href=3D"http://www.omegasoft.bg">cgi-bin</A>.spaceports.com/~rossy/Index.=
php</A></FONT></DIV></BODY></HTML>
------=_NextPart_000_0012_01C2A79E.5D6F45C0--