Thanks for your reply.
I found that the circles(step file) I imported, which roll on the ground during the simulation, are not considered as circles.
So I used the cylinders directly in the adams instead. The situation has been improved a lot, but the normal force still reduces when the running...
Hi,
I am doing a simulation with Simulink (with sampling time 1ms) and Adams.
This simulation is about a quadruped robot running on the flat ground with rolling foot, like Rhex robot.
This model is about 10kg and runs under 1 to 1.5m/s in the simulation.
The variation of potential energy is...
