Development of self balancing biped with inverse Dynamics

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Development of self balancing biped with inverse Dynamics

Postby Julio Jerez » Wed Jan 01, 2020 5:13 pm

Ok Joe, Dave and whoever is interested.
I added the interface for designating a contact point as a soft contact.
Code: Select all
void NewtonMaterialSetAsSoftContact (const NewtonMaterial* const material, dFloat relaxation, dFloat springCoef, dFloat damperCoef);

soft contact meaning a contact point that uses penetration to calculate a recovering acceleration that is proportional to the penetration.
this acceleration only control a fraction of the total reaction force at the contact point, the rest is calculated by the rigid body solver.

the final implementation is not ready yet, only the relaxation is applied at this time, the spring and damper are ignored at the moment therefore the contact will sink slowly until it reaches the equilibrium.
This is the exact setup you saw in the video, which was hard coded.
Now I can complete the rest.
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Re: Development of self balancing biped with inverse Dynamic

Postby Dave Gravel » Wed Jan 01, 2020 6:29 pm

Cool thanks, I can try to test it more very soon.
Currently I can see it from your demo and it look to work very good.

Edited:
Thanks JoeJ for the Congrats :mrgreen: :lol:
Last edited by Dave Gravel on Wed Jan 01, 2020 8:57 pm, edited 3 times in total.
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Re: Development of self balancing biped with inverse Dynamic

Postby JoeJ » Wed Jan 01, 2020 6:46 pm

Yeah great, i have many usecases for this :mrgreen:

Offspring? Congrats, Dave! 8)
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Re: Development of self balancing biped with inverse Dynamic

Postby misho » Mon Jan 06, 2020 4:20 pm

Julio Jerez wrote:Ok Joe, Dave and whoever is interested.
I added the interface for designating a contact point as a soft contact.
Code: Select all
void NewtonMaterialSetAsSoftContact (const NewtonMaterial* const material, dFloat relaxation, dFloat springCoef, dFloat damperCoef);

soft contact meaning a contact point that uses penetration to calculate a recovering acceleration that is proportional to the penetration.
this acceleration only control a fraction of the total reaction force at the contact point, the rest is calculated by the rigid body solver.

the final implementation is not ready yet, only the relaxation is applied at this time, the spring and damper are ignored at the moment therefore the contact will sink slowly until it reaches the equilibrium.
This is the exact setup you saw in the video, which was hard coded.
Now I can complete the rest.


This is amazing... I can't wait to see a demo.

I will be using this, but in a much simpler form - I need an articulated robot "arm", much like the one on the space station... (and I think that is already fully functional in Newton)
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Re: Development of self balancing biped with inverse Dynamic

Postby Julio Jerez » Mon Jan 06, 2020 4:52 pm

My guess what you want is similar to the sixaxis manipulator demo.

Check it out, is not difficult to assembly.
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Re: Development of self balancing biped with inverse Dynamic

Postby misho » Mon Jan 06, 2020 5:25 pm

Julio Jerez wrote:My guess what you want is similar to the sixaxis manipulator demo.

Check it out, is not difficult to assembly.


That's exactly what I need, probably even simpler!! :mrgreen:
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Re: Development of self balancing biped with inverse Dynamic

Postby Julio Jerez » Mon Jan 06, 2020 7:14 pm

this functionality has been for few years in the engine, but is was until 3.14 that I made a formal feature and made few demos. all the new demos use this feature now.
No one other than Dave, has really use it, of you do you will be probably the first person.

if you do you can get some far better than this.
https://www.youtube.com/watch?v=g7l-yBjjdEY
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Re: Development of self balancing biped with inverse Dynamic

Postby misho » Tue Jan 07, 2020 2:38 am

Julio Jerez wrote:this functionality has been for few years in the engine, but is was until 3.14 that I made a formal feature and made few demos. all the new demos use this feature now.
No one other than Dave, has really use it, of you do you will be probably the first person.

if you do you can get some far better than this.
https://www.youtube.com/watch?v=g7l-yBjjdEY


Ah! THAT is a Kerbal Space Program (KSP) - my sim is similar to it, except I am hoping it will look and behave much more realistic. (KSP has a smaller universe, it is not Earth, everything is sized down, although there are mods that size it up to realistic sizes).
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