Robotics Simulation: static balance test in Webots 7

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cypherluc
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Robotics Simulation: static balance test in Webots 7

Post by cypherluc »

Dear Ogre users,

We recently integrated a new feature in Webots simulation software which relies on the Ogre 3D rendering engine, namely the capacity to watch on the screen the outcome of the static balance test for a robot. The center of mass of the robot is projected on the ground. The robot is then said to be statically stable if the projection lies inside its support polygon, i.e. the convex hull of its contacts points. In this case the color of the support polygon turns to green. Otherwise the robot is said to be statically unstable, and the polygon color turns to red.

This was done using simple material scripts and manual objects.

Here is a video that demonstrates the use of the static balance test for 3 different simulated robots:
[youtube]R-dWaxsuWDc[/youtube]

Best regards,
Luc.
Last edited by spacegaier on Wed Nov 28, 2012 4:25 pm, edited 1 time in total.
Reason: inlined video
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