1. Simulation Tools update - CDL
March 12, 2004
G. Clark Haynes,

2. G. Clark Haynes, gch@cs.cmu.edu
Status Report – 2/6
Just using ‘cpp’ to include other files and do macro processing, rather than building it into language.
Ability to make four bar linkages not working.
Springs not added to CDL language yet
Lingering bugs with segfaults from Arachi DE.
March 12, 2004
G. Clark Haynes,

3. G. Clark Haynes, gch@cs.cmu.edu
Status Report – 3/11
Still using ‘cpp’ for macro processing.
Segfaults fixed.
Springs added to CDL language – you just need to add parameters to a joint
Example: RevoluteJoint : (k = 2.0, damping = 1.0);
Working fine for rigidly fixed objects.
Problematic for springs in series, particularly when they’re bashed against ground (such as RHex legs)
Four bar linkages working (see movie)
CDL can read in PCM files, and surfaces react appropriately.
Only current example is a sticky surface
More coming as PCM is developed
March 12, 2004
G. Clark Haynes,

4. Use to Linkage Designers
Rigid body simulations are working 100%,
Easier access to position/velocity/force data still needed, but not difficult to do.
With a couple days of work, we could get it driving a RiSE hip module, and thus, a full RiSE bot.
March 12, 2004
G. Clark Haynes,

5. G. Clark Haynes, gch@cs.cmu.edu
Still TODO
Need to lay framework for CDL libraries
RTI (interface to RHexLib) working, but needs more testing, refinement.
Documentation
March 12, 2004
G. Clark Haynes,

6. G. Clark Haynes, gch@cs.cmu.edu
Movies
Fourbar.mov
60 LOC (30 for the math)
Springbox.mov – simple prismatic spring
15 LOC
Springboard.mov – diving board simulated by multiple revolute springs. Balls ‘stick’ to each other once they collide.
60 LOC
No movie, but a full-featured RHex can be modeled in about 100 LOC
March 12, 2004
G. Clark Haynes,