Gazebo | Ignition | Community
Ask Your Question

Stiffness of a leg link

asked 2015-09-01 12:01:26 -0600

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?

edit retag flag offensive close merge delete


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 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2016-01-25 09:44:11 -0600

nkoenig gravatar image

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

edit flag offensive delete link more
Login/Signup to Answer

Question Tools


Asked: 2015-09-01 12:01:26 -0600

Seen: 816 times

Last updated: Jan 25 '16