[ODE] Re: FMax and Vel doesnt wrok for me! Y?

[Tyler Streeter]

I'm not sure if the problem is with your physical simulation or your
learning algorithm.  There are some motions that are really hard for a
simulated creature to learn, but sometimes the problem is as simple as
giving the creature more "muscle strength" (i.e. max force/torque).

Can you tell whether the doggy has enough strength to do the things
you want?  Are the body part masses too high?

You mentioned that it keeps moving its legs in the air after falling
over.  A vestibular system (head orientation and angular velocity) can
help the creature sense if its upright or not.

Tyler




On Fri, 5 Nov 2004 09:29:10 -0800 (PST), Neelam C <tina_vipul at yahoo.com> wrote:
>
> Hi all,
>
> Finally my Doggy seems to do right kind of movement with his legs. I have
> checked all calculations (most of all!) and I think I am ready for the "learning
> process".
>
> I have one problem though, Doggy falls either on front or back wile simulation,
> I mean either his front body or rear body touches ground but he continously
> moves his legs as if he is trying to walk in air!
>
> MY QS:
> It is in my ODE code that Doggy falls? like not setting proper values. Do I need
> to check values like FMax, Vel, masses etc? so that Doggy doesnt fall?
>
> Since I am no expert in ODE I am confused. As such in learning process I give
> lowest fitness value if Doggy falls.
>
> Please  guide me.
>
> Tyler, you probably have an answer to my question (I have seen "Verve" and its
> cool)
>
> I have uploaded couple of files at:
> http://groups.yahoo.com/group/take_care_dearones/files/Thesis/
>
> 1. doggy.h (class doggy)
> 2. main_prg.cpp
>
> There are two more files:
> 1. variables.h
> 2. reinforcement.h
> As the name suggest they contain variables info and the reinforcement algorithm.
>
> Doggy is going to learn (inspired by Nate and Peter):
>
>     ellipseLength
>     frontEllipseHeight
>     rearEllipseHeight
>     totalCycleTime
>     timeOnGround   // fraction 0 <= x <=1
>     yOffsetFrontLegs
>     yOffsetRearLegs
>     frontShoulderHeight
>     rearShoulderHeight
>
> Regards.
>
> =====
> ________________________
> Neelam C
>
> http://www.geocities.com/tina_vipul/homepage.html
>
>
>
>
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