[ODE] Force and Torque measurement

Bram Stolk bram at sara.nl
Fri Dec 8 04:38:23 MST 2006

On Fri, 2006-12-08 at 19:30 +0900, aiman at fuji.waseda.jp wrote:
> I created a dynamic simulator which simulate a walking robot consists of many bodys and conected to each other throw joint.
> I would like to know how to measure forces and torques at a position inside the robot. Should I use dJointFeedback?


You could take a look at the code of crashtest at

It calculates the force on the neck of the crashtest dummy in

I think it's either using the feedback, or doing all the math
yourself by measuring accelerations.


> Aiman
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