CoppeliaSim forums

Hello,

I would like to explore the passive dynamic principle and conduct experiments about the morphology optimization i.e. limb lengths, CoM positions, mass...

To do so I need:
- a passive walker with 2 legs, a trunk and knee-lock
- a (infinite/long enough) inclined slope
- to set initial conditions
- to change several morphology parameters

I'm wondering if it is possible to easily create such experiments with v-rep and before begining I would like your feedback on it.

So does anyone already try to create a passive walker with v-rep?
What are the best practices to achieve such an experience?

Thanks,

Matthieu Lapeyre
INRIA

Hello Matthieu,

yes, this is perfectly possible. Just make sure to start with a simple construction first (e.g. by using only pure shapes, i.e. cuboids). And what I would do, I would add additional prismatic joints, that are locked (i.e. that are keeping a set target position), and that can be used to change the length of the links (for a given link (e.g. leg link), use two overlapping cuboids linked via such a prismatic joint. Just make sure they don't collide with each other). At some point you would then also be able to modify the length of those links dynamically (e.i. during simulation) if needed.

Cheers