thibodea at cs.umass.edu
Tue Jul 11 06:27:51 MST 2006
As others have mentioned, ground penetration is a likely culprit.
Another possibility is not so much the velocity being generated by the
amotors, but the force being applied at the joints to achieve that
velocity. If I recall correctly, an amotor will apply as much force as
necessary (up to the limit set FMax for that joint, which I think
defaults to dInfinity) to a joint to achieve the desired velocity in one
time step. If you have a very small step size, as you likely would for
simulating something like bipedal walking, there may be a very large
impulse force generated initially by the amotor, causing the robot to
hop. You could try setting the FMax parameter of the amotor to a
reasonable value, where reasonable will depend heavily on the type of
motor and gear box that you assume and the actual velocity of the motor.
Bob Prog wrote:
> I am trying to simulate a walking biped using ODE. When I set my amotor
> velocities to try and take a step, the biped immediately hops into the air
> in a forward motion. I don't think the velocities I'm applying are so great
> that it is warranting such a hop. I would like to just cruise along the
> ground like a normal walk. I am not setting the dContactBounce flag in the
> collision callback, and I'm not using springs. So what could be causing
> this? What am I missing here? Or is it probably the velocities?
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