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hmartiro / project-thesis

xJüs, the hexapodal robot with a passive-backbone to improve behavior over harsh terrain.
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Get the simulation to a quantitative state #49

Closed hmartiro closed 11 years ago

hmartiro commented 11 years ago

Such that the units all match up, everything is realistic, and actual numerical testing can be done

hmartiro commented 11 years ago

motor model from the Siepel-Holmes paper has been implemented. I used a mathematica script to match up the linear motor curve with the motor no load speed and stall torque by tuning the Ks and Kt constants described in the paper. The paper is in the research section of the git repo.

hmartiro commented 11 years ago

length units have been adjusted for Bullet so that 1 unit = 10cm. Gravity is set to 98, and everything looks good. Torques applied in the simulation are in N-cm so that needs to be divided by 10 to get N-m.

Masses seem to work with lowish numbers, ~0.2 for the legs, and spread apart such that the total mass of the robot is 4.5kg.