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Stiffness of a leg link

asked 2015-09-01 12:01:26 -0500

ROS_GAZEBO_USER gravatar image

I'm trying to simulate a rhex-robot that has this kind of legs:

My question is how can I set (in the urdf file) the stiffnes of the leg_link. I know how to set kp and kd (contact stiffness and damping parametres), but they are referred to a JOINT, and I want set the stiffness of a specific LINK. I've been able to simulate the robot, but the legs behave as if they were rigid. I would like them to behave like this:

image description

(when the leg touches the ground, the circunference "deforms")

How can I do that?

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I know that with SDF you can set kp and kd for a link too. Maybe you can check this world as an example, more specifically model_5_soft_contact.

chapulina gravatar imagechapulina ( 2015-09-01 12:14:27 -0500 )edit

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answered 2016-01-25 09:44:11 -0500

nkoenig gravatar image

We can't simulate a flexible link. You can approximate this leg using a series of links connected by hinge joints.

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Asked: 2015-09-01 12:01:26 -0500

Seen: 564 times

Last updated: Jan 25 '16