I am a computer science student. I am trying to simulate a locomotion of a legged robot.
The weight and dimensions of the robot:
- A rectangular torso has 1 Kg, (0.15m*0.3m*0.03m) (width * length * height)
- Four cylinder legs, each one is about 0.2 Kg (0.04m length, 0.01m radius)
Moment of inertia of each leg: (computed them from wiki page )
- Ix =Iy = 0.000126667
- Iz = 0.00001
My question is, how to know what is the maximum of torque and angular velocity to get the joint rotate in a realistic way. Here is a video of what I mean by not realistic.
I know that in a linear movement: Force = Mass * Acceleration. So we can find approximately the force. But in a joint ?
Sorry for the question, it may be stupid but I didn't studied physic since high school!