Re: [Yars-users] Servomotors

[Tom W. <tw...@gm...>]

Hi Keyan,

I checked the robots starting position and it was indeed in the ground. so i
made sure to lift it out of the ground. however, the robot still disappears
from the simulation.

I changed the hinge type to velocity and the robot appears. this is good,
but not really the functionality that i want to simulate (i wish for an
angle-based servomotor).

What kind of hinge did you use for the aibo?

regards,
tom



On Tue, Aug 31, 2010 at 12:49 PM, Keyan <ke...@us...> wrote:

> 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
> >
> > --
> > Signature:
> > _____________
> >
> ------------------------------------------------------------------------------
> > This SF.net Dev2Dev email is sponsored by:
> >
> > Show off your parallel programming skills.
> > Enter the Intel(R) Threading Challenge 2010.
> >
> http://p.sf.net/sfu/intel-thread-sfd_______________________________________________
> > Yars-users mailing list
> > Yar...@li...
> > https://lists.sourceforge.net/lists/listinfo/yars-users
>
>


-- 
Signature:
_____________