Contact Relation Between Robot and Ground

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Muhammad Huzaifa
Muhammad Huzaifa on 11 Jan 2015
Answered: Sam Hunt on 9 Feb 2021
Hi everyone,
I am making a biped robot in Sim Mechanics. For now I have only made two legs and a small connector between the two to start with. I have defined a plane as ground and gravity in the -ve Y direction. I have following questions:
  1. As I run the simulation, my robot goes through the plane. How can I keep it from doing that?I have looked up the bouncing ball example as quoted numerously in the posts here but that example is in first generation sim mechanics, is there a version for 2nd generation?
  2. Once I am able to stop the robot on the ground, how can I define the "contact" between robot feet and the ground?
Thanks

Answers (1)

Sam Hunt
Sam Hunt on 9 Feb 2021
The Spatial Contact Force block introduced in R2019b is capable of modeling such effects.

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