[ODE] Problem with friction or maybe with units...

[Cristian Bianchi]

Hello,
A "mu" of value "2" means that the surface contact will exert a maximum
friction force of 2 units (newton I think in you case...), see the user
guide for this... the mu coefficient is not a traditional friction constant,
so if, for example, the robot is heavy, a maximum tangential force would be
not sufficient to avoid the "walk on ice"
cheers
Cris

----- Original Message ----- 
From: "Proy. Grado Construccion de Robots Bipedos - ENS"
<pgrobip at fing.edu.uy>
To: <ode at q12.org>
Sent: Thursday, July 15, 2004 7:10 PM
Subject: [ODE] Problem with friction or maybe with units...


> Hello,
>
>     I am trying to simulate a biped robot and with mu set to 2 it seems
> to be walking on ice. That shouldn't happend :(
>
> I use:
>     gravity=-9.8
>     density=1000
>     FMax=70 (for all motors)
>     surface.mode=0
>     surface.mu=2
>
> If units are OK this should be earth gravity, water density, torque
> similar to commercial little motors, and a rough floor. What can be wrong
?
>
> Regards,
>     Damián Lezama
>
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