CoppeliaSim forums

I fixed it.

This is my university graduation project. I designed a lower-limb exoskeleton robot based on ASTI humanoid. Machine Learning was involved. A convolutional neural network was trained in MATLAB and a physiotherapy process was simulated. For details you can watch my video.
[youtube]https://youtu.be ...

I was checking the min-max torques values of ASTI. And I realized that the values are dramatically changing by the simulation dt.
When sim dt=0.05, the max value=251 Nm; when sim dt=0.001, the max value= 3818 Nm.
(dynamics dt is always 0.05 ms as recommended.) (Engine:Bullet 2.83) (Coppeliasim Edu ...

Oh yess. It worked. Thanks. But now I cannot use dummies with overlap constraint. I need them because I gotta construct dynamic loops. How to solve it?

Edit: I tried it also in another scene. It worked. Interesting! I hope it will not happen again.

Edit2: I figured out why dummy linkage did not ...

I kept trying. The problem is still existing.
Here is what I did:
1) Opened a new scene.
2) Added ASTI into the scene.
3) Opened the dialog screen of right knee joint.
4) Modified the max torque as 53 (which is 100 as default)
5) Ran the simulation with Bullet 2.78 and counted the steps it could ...

While I was discussing the possible reasons behind this non-deterministic behavior with ChatGPT, the simIK functions drew my attention. Particularly simIK.handleGroup function which moves the ASTI's foottips to the targets. It computes with the iterative numerical methods which requires an initial ...

I am running Coppeliasim Edu version 4.9.0 (rev. 6).
I followed your instruction which is repeating load+run and also again noticed non-deterministic behavior. It can walk until 17. step whereas sometimes it cannot even reach out 5. step with the same torque limit. The results are so far from each ...

I set different the torque limit values in ASTI's leg joints and count the steps it can walk. As long as I start over the simulation it falls at the same step. But when I save and close the scene and reopen it falls at a different step, whereas the torque limit did not change. I tried out all the ...

I am designing a rehabilitation-oriented lower limb exoskeleton robot around ASTI. I built exoLegs next to ASTI's legs and I controlled them with IK functions like in ASTI. When I paralyzed ASTI by decreasing the max torques in its joints the exoLegs cannot carry the burden and ASTI loses its ...