Abstract
AbstractThis work discusses two different structure preserving integrators in the framework of optimal control simulations with contact. The first one is a variational integrator, based on the constrained version of the Lagrange‐D'Alembert. The resulting scheme preserves the symplecticity and the momentum maps of the simulated multibody dynamics. The second integrator is an energy momentum scheme and it is based on the augmented Hamiltonian equations, which are discretised using the discrete derivative in [2]. Both integrators are applied to simulate the optimal control of compass gait, for which the contact between the foot and the ground is modelled as perfectly plastic contact. The second example represents a monopedal jumper and it is used to examine the dynamical behaviour of the perfectly elastic and perfectly plastic contact formulation. The resulting differential algebraic equations (DAEs) are solved by the aforementioned symplectic momentum method. (© 2011 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
