Shaking Robot

[FelipeAcevedo]

Hello

This is my first time using simulators in general and I'm having the following problem with the simulation
I have a quadruped robot only in "simple shapes" and 3 revolute joints per leg. The joints are set in torque/force mode and position controlled at 0°. But when I start the simulation to see if the robot can keep stand, it start to shake and bounce.

What should I look for to try solve this problem?

Thanks in advance

PS: Sorry for my bad english

[coppelia]

Hello Felipe,

Make sure you read this section of the user manual. It is very important regarding the dynamics of a simulation. In particular all the "design considerations".

Cheers

[FelipeAcevedo]

Thank you for your answer, it was very useful.
Finally I increased the large of the shapes (from ~4 cm to ~20 cm) and adjust the mass to 10:1 for the body and legs.
Now the joints only move between 0.07 and 0.08.

Thanks again