Model walking on floor

[pedro magalhaes]

Hello.

Is it possible to simulate walking, with controls calculated with CMC tool, using walk1_ik.mot, and having the model actually walk on a floor and not in the air.
I already have the model with a floor and contact spheres on it´s feet, 3 on each foot, and my model can touch the floor.

[Dimitar Stanev]

Hi,

Currently, this is not possible for many reasons:

1) Contact spheres is not a good way to estimate ground reaction forces.
2) If you apply the controls from CMC into FD the walk will not last, because the system is very unstable and small errors in your command will propagate fast.

You need some kind of a forward dynamic controller that will correct errors during simulation of walking (e.g. CoM controller) and a reliable ground reaction estimator.

Best

[pedro magalhaes]

Hi.

What about controllers by reflex like Dzeladini?

[Dimitar Stanev]

OpenSim does not have such a controller, but you can implement a custom controller quite easy. Also, you need to implement the ground reaction force estimator.

Best

[Daniel Pina]

Hello,

In the followup of this discussion, I would like to know if someone has attempted to use rolling constraints as shown in this article:

http://dx.doi.org/10.1016/j.jbiomech.2013.03.030

[assal farrahi]

I am also very eager to know that as well.

[Silas Purja]

Hi Daniel,

I trust this message finds you well. I noticed that the post is from over 5 years ago. I was wondering if there have been updates to OpenSim 4.4, specifically the version with a GUI. Is it now possible to model walking on the floor and incorporate the floor's stiffness effects into the walking model?

I appreciate your time, and I look forward to your response.

Warm regards,
Silas