Contact Relation Between Robot and Ground

Hi everyone,

I am making a biped robot in Sim Mechanics. For now I have only made two legs and a small connector between the two to start with. I have defined a plane as ground and gravity in the -ve Y direction. I have following questions:

1. As I run the simulation, my robot goes through the plane. How can I keep it from doing that?I have looked up the bouncing ball example as quoted numerously in the posts here but that example is in first generation sim mechanics, is there a version for 2nd generation?
2. Once I am able to stop the robot on the ground, how can I define the "contact" between robot feet and the ground?

Thanks

Answer 1

[Sam Hunt]

The Spatial Contact Force block introduced in R2019b is capable of modeling such effects.