[ODE] building a foot with pressure sensors

[Nate W]

On Wed, 10 Sep 2003, Stefan Castille wrote:

> I'm trying to create a model of a foot that has 4 pressure sensors located
> on the foot. The idea is that with help of the pressure sensors i would be
> able to detect where the center of gravity of the whole robot is located.

I suggest examining the contacts between the foot and the floor - get
their positions and the amount of force associated with each joint (the
latter using the joint feedback structure), then derive weight
distribution information from that information.

> The idea is that if there is constant pressure the penetration
> would quickly become stable.

I don't think that idea will actually work in practice.  With a rigid
simulation environment (low CFM), penetration depth tends to be pretty
close to zero.  With a 'squishy' universe (high CFM), you'll get some
penetration but probably also some jittering.  At least, that's been my
experience.

-- 

Nate Waddoups
Redmond WA USA
http://www.natew.com