As a part of my Mater’s project work : design of Humanoid Robot, presently I am working on Actuator selection. The idea is to do a preliminary actuator selection based on the Joint Torque Requirements. And after that I would like to work on the mechanism design.
What I planned to do was to change the mass inertia properties of SR1 model according to my requirement and then from the project SR1Walk.cnoid I could get the speed and torque experienced by the different joints.
From the tutorials I got to know that the controller o/p is torque. But I am not familiar with c++ coding and I am not able to extract these values after the simulation. It would be wonderful if someone could help me with this.
It need not be this exact problem but a method/tutorials/skills I have to learn to achieve my goal would also be very helpful for me.
Thanks and Regards,
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