Search found 6 matches

by briany
07 May 2013, 20:29
Forum: General questions
Topic: Deformable surface contact
Replies: 12
Views: 6822

Re: Deformable surface contact

Fyi have reverted to putting the force sensor in the legs, between the lower leg and the tip. The pads are now purely static.The force readings as the robot steps are not wildly out, everything appears fine (with the current, stock dll)! I intend to write a plugin to programmatically handle z and x,...
by briany
07 May 2013, 08:33
Forum: General questions
Topic: Deformable surface contact
Replies: 12
Views: 6822

Re: Deformable surface contact

I'm interested to know what changed in the new dll as the scene doesn't like it at all - the robot flies up in the air and flips! However, the pads now stay together. Perhaps I need to implement the springs/ dampers on the pads to make it work - what do you think?

Regards

Brian
by briany
05 May 2013, 19:53
Forum: General questions
Topic: Deformable surface contact
Replies: 12
Views: 6822

Re: Deformable surface contact

Thanks - I see now that you can't connect two static shapes with a dynamically enabled force sensor, (as the manual would have told me.....) Actually, I did it this way because in the prior version of my scene, where the lower pad was dynamically enabled but non-static, when the simulation ran the l...
by briany
04 May 2013, 16:10
Forum: General questions
Topic: Deformable surface contact
Replies: 12
Views: 6822

Re: Deformable surface contact

Hi, I'm making okay progress with this but have a bit of a problem with the force sensors - I think I might be doing something wrong! I have set up the proximity sensors with vertical rays, and have a script attached to the proximity sensors work out the distance to the surface (this varies as it is...
by briany
28 Apr 2013, 08:26
Forum: General questions
Topic: Deformable surface contact
Replies: 12
Views: 6822

Re: Deformable surface contact

Hi, I like the support pads idea, really neat, and as you say, it will enable me to simulate the full x,y,z movement of the foot including the sinkage. Essentially this seems to be comprised of two methods to control the position of the support pads - one based on the minimum distance calculation wh...
by briany
26 Apr 2013, 15:13
Forum: General questions
Topic: Deformable surface contact
Replies: 12
Views: 6822

Deformable surface contact

Hi, I'm trying to simulate the behaviour of a hexapod moving across a deformable surface such as a sand bed. To keep it simple at this stage I'm intending to ignore the fact that the robot will sink into the surface, I just want to model the force action / reaction between the feet and the ground. I...