Modeling robots in Unity using physics

Question

I am trying to imitate the work of servos in Unity for my project - modeling a physically accurate humanoid robot in unity, and I need to model the parts of the robot (legs, knees) to a certain extent. I tried to use the articulated joint for this, but it soon became apparent that this made the robot clumsy and unpredictable. Now I'm trying to use a custom joint with zero projection (position and angle of the mode), but sometimes it makes the robot constantly shake its parts.

What other options should I make the robot more or less real (or like in Microsoft robotics dev studio) if I need to take into account the weight of each part?

Answer 1

Jitter is often caused by too much time step of physics. If you go to:

Edit → Project Settings → Time

and shorten the fixed time interval, you can improve the physical simulation.

You can also add friction to the joints to make them less sensitive to resonance, but I will try to correct the error first.