7kgcmでジャンプできるのか、どのくらいできるのか。
まあ微妙だな。
まあ、前回のロボットをモデル化したつもりなんだけども。
いやあ、あらゆることが、めんどくさいな。オブジェクトの初期配置というのがすこぶる面倒くさい。
ジョイントの誤差処理とか、良く分かんないし。
接触判定の時の、反発とか摩擦とかむずかしい。というかよくわからない。
摩擦円錘近似ってなんだろう。
初期位置というか配置のコード
//物体の初期位置とか
dReal head_0[] = {0.0, 0.0, 1.300};
dReal bar_0[LEG_NUM][LINK_NUM][3] =
{
{
{-ASIHABA, 0.0, head_0[Z] - headH/2 - barR },
{-ASIHABA, barL/2 + barR, head_0[Z] - headH/2 - barR + barR - barL/2 - barL/2 + barR*2},
{-ASIHABA, 0.0, head_0[Z] - headH/2 - barR + barR - barL/2 - barL/2},
{-ASIHABA, barL/2 + barR, head_0[Z] - headH/2 - barR + barR - barL/2 - barL/2 - barL/2 - servoW/2 - barL/2 - barR*2},
{-ASIHABA, 0.0, head_0[Z] - headH/2 - barR + barR - barL/2 - barL/2 - barL/2 - servoW/2 - barL/2}
},
{
{ASIHABA, 0.0, head_0[Z] - headH/2 - barR},
{ASIHABA, barL/2 + barR, head_0[Z] - headH/2 - barR + barR - barL/2 - barL/2 + barR*2},
{ASIHABA, 0.0, head_0[Z] - headH/2 - barR + barR - barL/2 - barL/2},
{ASIHABA, barL/2 + barR, head_0[Z] - headH/2 - barR + barR - barL/2 - barL/2 - barL/2 - servoW/2 - barL/2 - barR*2},
{ASIHABA, 0.0, head_0[Z] - headH/2 - barR + barR - barL/2 - barL/2 - barL/2 - servoW/2 - barL/2}
}
};
dReal servo_0[LEG_NUM][SERVO_NUM][3] =
{
{
{-(ASIHABA+servoL/2+barR/2), 0.0, bar_0[RIGHT][2][Z] - barL/2 - servoW/4}
},
{
{ASIHABA+servoL/2+barR/2, 0.0, bar_0[LEFT][2][Z] - barL/2 - servoW/4}
}
};
dReal foot_0[LEG_NUM][3] =
{
{-ASIHABA-barR, 0.0, bar_0[RIGHT][3][Z] - barL/2 -barR},
{ASIHABA+barR, 0.0, bar_0[LEFT][3][Z] - barL/2 -barR}
};
dReal joint_0[LEG_NUM][JT_NUM][6] =
{
{
{0.0,0.0, 0.0, 0.0,1.0,0.0},
{0.0,0.0, barL/2, 1.0,0.0,0.0},
{0.0,0.0, -barL/2, 1.0,0.0,0.0},
{0.0,0.0, barL/2, 1.0,0.0,0.0},
{0.0,0.0, -barL/2, 1.0,0.0,0.0},
{0.0,0.0, barL/2, 1.0,0.0,0.0},
{0.0,0.0, -barL/2, 1.0,0.0,0.0},
{0.0,0.0, barL/2, 1.0,0.0,0.0},
{0.0,0.0, -barL/2, 1.0,0.0,0.0}
},
{
{0.0,0.0, 0.0, 0.0,1.0,0.0},
{0.0,0.0, barL/2, 1.0,0.0,0.0},
{0.0,0.0, -barL/2, 1.0,0.0,0.0},
{0.0,0.0, barL/2, 1.0,0.0,0.0},
{0.0,0.0, -barL/2, 1.0,0.0,0.0},
{0.0,0.0, barL/2, 1.0,0.0,0.0},
{0.0,0.0, -barL/2, 1.0,0.0,0.0},
{0.0,0.0, barL/2, 1.0,0.0,0.0},
{0.0,0.0, -barL/2, 1.0,0.0,0.0}
}
};
すこぶる面倒。
ていうか、久しぶりに脳内キャドで距離計算した。疲れます。
でもまあ、ここまで出来たので。満足です。
4月の研究の発表に使おうかな。
[0回]
PR
