how to show the trajectory of the center of mass of my robot

[Matthew Qi]

Hi,

Since my robot could walk and run in V-REP, I want to get the trajectory of the COM(center of mass) of my robot to have a further study of it.
Would you please tell me how to get the trajectory

Thank you in advance.

[coppelia]

The center of mass of your whole robot can be computed by doing a weighted addition of all center of masses. Have a look at the following model for inspiration: models/tools/center of mass visualization tool.ttm

Cheers