6-legged Robot

Presentation

Brief description :

This robot has 6 legs actuated independently by 6 motors, which allows it to have various kind of movements.

presentation video of the simulation showing it in action:

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video of the realisation based on the previous simulation:

Why reduce it :

To show that we can easily reduce parts of a soft robot and re-use it in the full robot. Here we only reduce the leg of our robot not its core.

Reduction Parameters

To make a reduced model of one leg of this robot, we had to create a new special function to explore its workspace. To create the rotation mouvement we see on the different previous videos we rotate a point that will be followed by the model creating the rotation.

:meth:mor.animation.doingCircle how it was implemented

We have only one actuator here, so our listObjToAnimate contains only one object:

ObjToAnimate("actuator","doingCircle",'MechanicalObject',incr=0.05,incrPeriod=3,rangeOfAction=6.4,dataToWorkOn="position",angle=0,rodRadius=0.7)

With these different parameters we will after perform the reduction like explained here

Results

With coarse mesh

FPS before/after reduction

not reduced	reduced
90	300

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With fine mesh

FPS before/after reduction

not reduced	reduced
3.8	190