Re: [Yars-users] Servomotors

[Keyan <ke...@us...>]

Hi Tom,

this seems like a problem that happened to me in the beginning too. when you create your hexapod, you have to make sure that it does not touch the ground. this is important for the following reason:

if the legs touch the ground, or more precise, intersect with the ground at the beginning of the simulation, it is very likely, that forces add up, which catapult the entire hexapod into nirvana. we encountered that problem also once during the evolution of an aibo robot, in which the distance was the fitnessfunction. the controller forced the legs into the ground, until the summed forces would catapult the aibo somewhere far, far away.

to avoid this problem, it is best, when you add an initialPosition tag to the robot, and lift it a few centermeters above the ground.

regards,
keyan

On 31 Aug 2010, at 12:40, Tom Walwyn wrote:

> Hi,
> 
> I'm busy creating a simulation for a 12 DOF (2 for each leg) hexapod. the legs are actuated with servomotors. 
> 
> In order to simulate the servomotors, I have created a hinge connector of type angular. The anchor points for the hinges are the points around which i want the joints to rotate. This is all fine. But, as soon as I give the hinge any amount of max force, the robot disappears from the simulation. I am assuming this is because the robot explodes from the forces acting upon the joints. 
> 
> Has anybody got any advice as how to effectively make working servomotors for joints?
> 
> Thanks in advance,
> 
> Tom Walwyn
> 
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