Hexapod robot does unbelievable posture in simulation

Discussion in 'Simulation' started by Xuan Lin, Apr 15, 2018.

  1. Hi,
    I am doing a simulation of a hexapod (six-legged) robot learning to walk, and I notice that when the robot does sampled motion, it is able to support itself by two legs for a few seconds without tilting (like the attached picture), which is not suppose to happen. I do have all the mass and inertia of all limbs set correctly, so what do you think could potentially be the reason?

    The xml file is also attached. I will be working to tune it out by myself also.


    Attached Files:

  2. Tuning and getting better now...