Static Optimization Reserve Actuators
Posted: Sun Oct 05, 2008 10:49 pm
Hi,
One of the main reasons for static optimization crashing is the lack of model strength. So I have added reserve actuators to the static optimization xml setup file.
<replace_actuator_set>false</replace_actuator_set>
<actuator_set_files>my_staticOpt_Reserve_Actuators.xml</actuator_set_files>
Inside this actuator file, I can only specify the optimal_force value. e.g.
<GeneralizedForce name="hip_flexion_r_reserve">
<coordinate> hip_flexion_r </coordinate>
<optimal_force> 1.0 </optimal_force>
</GeneralizedForce>
Now according to the users guide for RRA and CMC, the allowable range of the reserve actuator is between optimal force*default_min and force*default_max. However the default_min and default_max value is specified in the RRA_Control_Constrains xml file, and is not accessible from static optimization. So I was wondering how we specify the default_min & default_max values for the application of static optimization. If we simply increase the optimal force, then the optimization will be more weighted to include force components in this reserve category (because the optimal force value represents the weighting of the actuator - p202 user guide).
Cheers,
Tim
One of the main reasons for static optimization crashing is the lack of model strength. So I have added reserve actuators to the static optimization xml setup file.
<replace_actuator_set>false</replace_actuator_set>
<actuator_set_files>my_staticOpt_Reserve_Actuators.xml</actuator_set_files>
Inside this actuator file, I can only specify the optimal_force value. e.g.
<GeneralizedForce name="hip_flexion_r_reserve">
<coordinate> hip_flexion_r </coordinate>
<optimal_force> 1.0 </optimal_force>
</GeneralizedForce>
Now according to the users guide for RRA and CMC, the allowable range of the reserve actuator is between optimal force*default_min and force*default_max. However the default_min and default_max value is specified in the RRA_Control_Constrains xml file, and is not accessible from static optimization. So I was wondering how we specify the default_min & default_max values for the application of static optimization. If we simply increase the optimal force, then the optimization will be more weighted to include force components in this reserve category (because the optimal force value represents the weighting of the actuator - p202 user guide).
Cheers,
Tim