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How to adjust center of mass when going over obstacles?

asked 2018-06-15 10:51:47 -0600

MRhinelander gravatar image

Hi I have a robot currently setup using ROS-Kinetic and Gazebo. The machine has four wheels and a differential driving system. I am testing how the machine goes over street curbs and often times as the angle of the machine changes it falls backward. The real robot I am modeling adjusts its center of mass to go over obstacles such as curbs. Do you guys have any suggestions on how I should go about this feature?

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answered 2018-06-15 11:44:03 -0600

chapulina gravatar image

How about adding a link which holds the amount of mass you want to move, and connecting that link to the rest of the robot by a prismatic joint you can control?

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I actually do have something like that. I have a wheel assembly on either side of the machine. Each with two wheels. I could hook this up to the main chassis with a prismatic joint. What is the best way to go about controlling this joint?

MRhinelander gravatar imageMRhinelander ( 2018-06-15 11:45:26 -0600 )edit

I'd say similarly to how you're controlling the rest of the robot... Since you're using ROS you may want to use that here too

chapulina gravatar imagechapulina ( 2018-06-15 11:50:30 -0600 )edit
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Asked: 2018-06-15 10:51:47 -0600

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Last updated: Jun 15 '18