External loads in CMC

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Anantharaman Gopalakrishnan
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Joined: Fri Oct 10, 2008 2:38 pm

External loads in CMC

Post by Anantharaman Gopalakrishnan » Fri Apr 22, 2011 12:37 pm

Hi,
One of the settings for CMC requires the user to specify a file containing "Kinematics for External Loads". This is by default always the IK motion file. I presume this has something to do with specifying Ground reaction forces during walking, since CMC does not use a ground contact model. Would someone happen to know how exactly the data in the IK motion file is used for this purpose? Thanks!
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Ayman Habib
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Joined: Fri Apr 01, 2005 12:24 pm

RE: External loads in CMC

Post by Ayman Habib » Mon May 02, 2011 11:03 am

Hi Anantharaman,

The ExternalLoad kinematics is used to transform the point of application of the ground reaction force (which is applied as-is instead of computed using a ground-contact model), to the appropriate body frame based on the instantaneous kinematics specified.

Hope this explains,
-Ayman
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