How to simulate a solid surface on which the robot will be able to walk?

Hi!

1. I'm trying to make a model of a walking robot 2. Something I have already done: http://youtu.be/e4SOxFKGf8o

3. But I find it difficult to choose the type of modeling surface reactions on the legs of the robot.

4. How can I simulate a solid surface, on which the robot will be able to walk?

5. When crossing imaginary floor by a point of contact create a controlled force on this point?

Please help!

Thank you in advance!

Answer 1

[Guy Rouleau]

Contact dynamics is a complex topic, there no magic easy solution that fits all problem.

In general I usually try to approach of a spring+damper active only when you penetrate the surface. You can separably compute normal and longitudinal/lateral forces.

I recommend looking at this submission:

http://www.mathworks.com/matlabcentral/fileexchange/36541-contact-force-examples-in-simmechanics-mini-golf

SimMechanics would be great for your application, but even if you don't use it, this should give you some inspiration.

Another one is here:

http://www.mathworks.com/matlabcentral/fileexchange/21439-simulation-of-a-one-legged-hopping-robot

[Alexander Slovak]

Yes! I saw an example of the robot!

At the moment, I`ll be satisfied rigidly fixed contact point without any friction moving.

If this is the only way - thank you very much for confirmation of my ideas!

May be I should try MSC Adams to simulate & simulink to control?