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Vacuum/Magnetic Feet for a Walking Robot

asked 2016-09-22 13:06:53 -0600

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Hello GazeboSim,

I have a robot model similar to the image below (collision shown). This is a 10 linkage robot with 9 DOF, and I have already calculated joint angles required for walking through MoveIt! with a simulated robot. I am doing this with two robot models in my URDF, one for each foot fixed to the ground (one MoveIt! planning group for each robot model).

image description

I am wondering if there is some way to load a new robot model (neither leg fixed to ground), and simulate walking with vacuum/magnetic feet.

I would pass the joint angle trajectories from MoveIt! with a simulated robot to the new robot model with the vacuum/magnetic feet. Gazebo would take care of which foot is in contact with the ground and plan the corresponding trajectory.

I have found the gazebo_ros_vacuum_gripper plugin, but have not been able to get this to work with ROS Indigo and Gazebo 2.2. Perhaps I am misunderstanding how to add this to my URDF. So far this has been my attempt:

world link
  floating joint (world->vacuum)
vacuum gripper
  fixed joint (vacuum->link1)
link1
...
link10
  revolute joint (link10->vacuum)
vacuum gripper

What I don't understand is contacting my robot base_link (link1) to world frame. If I do a revolute joint as specified in the plugin API, then the robot will never be able to lift it's foot off the ground. So I tried a floating joint, but did not have any success.

I have also tried using the ROS service /gazebo/apply_body_wrench/ instead of the vacuum plugin, but with no success either (for the same reason).

So my question comes down to is it possible to simulate a vacuum/magnetic foot for base_link through the URDF in which I can use it for walking?

Any help would be appreciated, thanks!

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Comments

random note, I think the gripper plugin works by creating a joint between the objects. You might want to just write your own plugin that mimics the vaccum gripper or other existing magnetic plugins, but with whatever changes you require

Peter Mitrano gravatar imagePeter Mitrano ( 2016-09-22 13:51:26 -0600 )edit
Abdullah gravatar imageAbdullah ( 2016-10-30 10:54:13 -0600 )edit

writing a gazebo model plugin to add relative forces to the vacuum links should work

JeremySMorgan gravatar imageJeremySMorgan ( 2018-12-02 21:01:23 -0600 )edit

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answered 2016-09-28 13:34:18 -0600

CareyCorbin gravatar image

updated 2016-11-28 16:14:31 -0600

Hi...i am a also working on the same type of design. Can you please share some more details about your's one. Actually i didn't get your idea of magnetic foot. Till now what all you did and how you are planning to do it?

flex pcb assembly

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Asked: 2016-09-22 13:06:53 -0600

Seen: 786 times

Last updated: Nov 28 '16