[ODE] Human suspension

Nate W coding at natew.com
Mon Nov 17 21:58:03 MST 2003

On Mon, 17 Nov 2003, Jason _____ wrote:

> The idea is that in those pose if he were to drop a little or something,
> the legs would bend, absorbing the shock.  The problem is, when he falls, nothing
> gives to absorb the shock, and he just bounces like a statue.  

See http://q12.org/cgi-bin/wiki.pl?ServoSimulation

If you use a very low gain, you can get springy joints.  It takes some
tuning to get it right though.  You might also try having the force
increase with the square of the deflection, rather than linearly, to make
it softer around neutral and stiffer at the extremes.

Using multiple joints does work, but it takes a lot more computation and
I'm pretty sure you'll be able to get good results by being creative with
the motor parameters.


Nate Waddoups
Redmond WA USA

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