[ODE] AMotor velocites vs. rigid body torques?
apatrick at engineering.uiowa.edu
Fri Aug 4 09:45:53 MST 2006
I am in the same boat as Bob. I want to move body parts to a specific angle.
I am not sure how to do this with the AMotor because it needs a velocity. I
am attempting to create a robotics type controller to calculate torque and
then apply the torque to the joint. But, as the manual predicted, this is a
painful progress, especially when creating a long chain of bodies. Has
anyone had much luck creating a controller?
Virtual Soldier Research
The University of Iowa
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org] On Behalf Of Bob Prog
Sent: Thursday, August 03, 2006 11:58 AM
To: ode at q12.org
Subject: [ODE] AMotor velocites vs. rigid body torques?
I am trying to use ODE to build a model of a walking biped. I was going to
apply torques directly to the rigid bodies (using dBodyAddTorque). But
someone I know who has some experience with ODE suggested that I use AMotors
instead, setting the AMotor velocity and FMax parameters to perform motion.
Could someone please tell me which approach is better, and why? Or even if
there is a better approach than this?
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