Structure preserving simulation of monopedal jumping
Koch M, Leyendecker S (2012)
Publication Language: English
Publication Type: Conference contribution, Conference Contribution
Publication year: 2012
Pages Range: DVD, 10 pages
Conference Proceedings Title: Proceedings of the Second Joint International Conference on Multibody System Dynamics
Event location: Stuttgart
Abstract
The human environment consists of a large variety of mechanical and biomechanical systems in which different types of contact can occur. In this work, we consider a monopedal jumper modelled as a three- dimensional rigid multibody system with contact and simulate its dynamics using a structure preserving method. The applied mechanical integrator is based on a constrained version of the Lagrange-d’Alembert principle. The resulting variational integrator preserves the symplecticity and momentum maps of the multi- body dynamics. To ensure the structure preservation and the geometric correctness, we solve the non- smooth problem including the computation of the contact configuration, time and force instead of relying on a smooth approximation of the contact problem via a penalty potential. In addition to the formulation of non-smooth problems in forward dynamic simulations, we are interested in the optimal control of the monopedal high jump. The optimal control problem is solved using a direct transcription method trans- forming it into a constrained optimisation problem.
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APA:
Koch, M., & Leyendecker, S. (2012). Structure preserving simulation of monopedal jumping. In Proceedings of the Second Joint International Conference on Multibody System Dynamics (pp. DVD, 10 pages). Stuttgart, DE.
MLA:
Koch, Michael, and Sigrid Leyendecker. "Structure preserving simulation of monopedal jumping." Proceedings of the Second Joint International Conference on Multibody System Dynamics, Stuttgart 2012. DVD, 10 pages.
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