Hello,
I have a simscape model of a hexapod robot which I am trying to make traverse over a small obstacle. When walking on the regular floor object, the robot is fine. However, as soon as the first leg makes contact with the obstacle, it experiences an abnormally high normal reaction force, causing the whole robot to get sent flying into the air. I am not sure why this is happening. The settings for the spatial contact forces between the floor object and the obstacle object are identical. Here is a video from the mechanics explorer (apologies for the speed, it may have to be watched on 0.25x playback).
I have tried everything I can think of – tweaking stiffness and damping parameters (K_obs and C_obs) and trying different solver settings/tolerances. Drastically reducing the stiffness and damping coefficients does help, but results in the legs of the robot sinking several millimetres through the obstacle.
I have attached a zip file containing the full project. To run the model, open and run HexMaster.m. Then, run adeept.slx. Any help would be massively appreciated.Hello,
I have a simscape model of a hexapod robot which I am trying to make traverse over a small obstacle. When walking on the regular floor object, the robot is fine. However, as soon as the first leg makes contact with the obstacle, it experiences an abnormally high normal reaction force, causing the whole robot to get sent flying into the air. I am not sure why this is happening. The settings for the spatial contact forces between the floor object and the obstacle object are identical. Here is a video from the mechanics explorer (apologies for the speed, it may have to be watched on 0.25x playback).
I have tried everything I can think of – tweaking stiffness and damping parameters (K_obs and C_obs) and trying different solver settings/tolerances. Drastically reducing the stiffness and damping coefficients does help, but results in the legs of the robot sinking several millimetres through the obstacle.
I have attached a zip file containing the full project. To run the model, open and run HexMaster.m. Then, run adeept.slx. Any help would be massively appreciated. Hello,
I have a simscape model of a hexapod robot which I am trying to make traverse over a small obstacle. When walking on the regular floor object, the robot is fine. However, as soon as the first leg makes contact with the obstacle, it experiences an abnormally high normal reaction force, causing the whole robot to get sent flying into the air. I am not sure why this is happening. The settings for the spatial contact forces between the floor object and the obstacle object are identical. Here is a video from the mechanics explorer (apologies for the speed, it may have to be watched on 0.25x playback).
I have tried everything I can think of – tweaking stiffness and damping parameters (K_obs and C_obs) and trying different solver settings/tolerances. Drastically reducing the stiffness and damping coefficients does help, but results in the legs of the robot sinking several millimetres through the obstacle.
I have attached a zip file containing the full project. To run the model, open and run HexMaster.m. Then, run adeept.slx. Any help would be massively appreciated. simscape, multibody MATLAB Answers — New Questions

​