I'm trying to simulate a [rhex-robot](http://kodlab.seas.upenn.edu/Kod/Xrhextech) that has this kind of legs:
My question is how can I set (in the urdf file) the stiffnes of the leg_link. I know how to set kp and kd (contact stiffness and damping parametres), but they are referred to a JOINT, and I want set the stiffness of a specific LINK. I've been able to simulate the robot, but the legs behave as if they were rigid. I would like them to behave like this:
(when the leg touches the ground, the circunference "deforms")
How can I do that?
↧