[ODE] Simulating pressure sensors

[Shamyl Zakariya]

Instead of futzing around with contact depth, I simulated a  
"mechanical" pressure sensor via a slider joint connecting the end of  
the robot's legs with a "pad". The slider was set up to be springy,  
and I read the movement from center to represent pressure.

Works really well for me -- though of course it requires an extra  
joint + body per leg.


shamyl zakariya
     "yeah, well, that's just like your *opinion*, man."
         -- the Dude


On Sep 29, 2005, at 6:08 PM, Josh Bongard wrote:

> Hi,
>     I'm working with a robot simulator, and I want to simulate  
> pressure sensors on the feet. In other words, when an object is in  
> contact with the ground, what is the counteracting force keeping it  
> there?
>     Like many people I suppose, I've tried hacking around the  
> contact.geom.depth, but this doesn't work.
>
> Thanks,
>
> Josh
>
> ---------------------------------------------------------------------- 
> -----------
> Dr. Josh C. Bongard, Postdoctoral Associate
> Computational Synthesis Lab
> Sibley School of Mechanical and Aerospace Engineering
> Cornell University, 191 Grumman Hall
> Ithaca, NY 14850
> Tel: (607) 255-0396
> Fax: (607) 255-1222
> http://www.mae.cornell.edu/bongard
> jb382 at cornell.edu
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