[ODE] AMotor velocites vs. rigid body torques?

Amos Patrick 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?


Amos Patrick
Research Assistant
Virtual Soldier Research
The University of Iowa
-----Original Message-----
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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