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Simulating Continuum Joints

asked 2016-10-07 16:11:40 -0500

vsherrod gravatar image

updated 2016-10-10 12:35:26 -0500

I am currently working on a project involving a robot with continuum joints (not pin joints, but joints that move with constant curvature like an elephant trunk or snake). I wanted to know if it was possible to simulate a robot in Gazebo that had such joints. My initial searches are making me think that it is not possible; however, I would love to be proved wrong in this regard.

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answered 2016-10-09 17:39:23 -0500

All joints in Gazebo are "continuous" by default. The quotation marks are there because the joints actually have really really large positive and negative limits.

See the SDF documentation for joint limits here.

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Thanks for you quick answer. Sorry, I should have been more clear. What I meant by "continuum joints" is a joint with constant curvature as opposed to being around a single point (like a pin joint) not whether a joint could be continuous. I have edited the question to help clear up this confusion.

vsherrod gravatar imagevsherrod ( 2016-10-10 12:37:50 -0500 )edit

answered 2016-10-11 17:43:13 -0500

it's definitely possible, but it sounds really hard. How do they work in real life? If you mimic the underlying mechanics it might work. Otherwise, you'd probably just make a bunch of normal joints and write a plugin to control th

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Asked: 2016-10-07 16:11:40 -0500

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Last updated: Oct 11 '16