Hi
Can anyone suggest an approach to modelling a compliant floor please?
I am thinking of surfaces like carpet with soft underlay, or a wooden sprung floor, or closed-cell/open-cell foam.
The affect this has is that your feet sink into the floor, so this can be tricky for a robot that is expecting a perfectly flat floor.
Secondly, walking across these surfaces will cause your feet to roll inwards and the reaction force will not be perfectly vertical.
It would be great if I could model these affects somehow :-)
Any help appreciated.
How to model a compliant floor? (compliance soft bounce)
Re: How to model a compliant floor? (compliance soft bounce)
Hello,
When using the ODE engine, you can try to play with the Soft CFM and Soft ERP parameters to emulate a soft surface. Those can be found in the engine specific properties in the Shape dynamics dialog.
A more complicated alternative would be to do something similar to what is described in this post.
Finally, we are currently working at supporting a high fidelity physics engine (Vortex) that will support such type of surfaces.
Cheers
When using the ODE engine, you can try to play with the Soft CFM and Soft ERP parameters to emulate a soft surface. Those can be found in the engine specific properties in the Shape dynamics dialog.
A more complicated alternative would be to do something similar to what is described in this post.
Finally, we are currently working at supporting a high fidelity physics engine (Vortex) that will support such type of surfaces.
Cheers