variational_integrator

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variational_integrator

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biorbd + casadi + variational integrator

variational_integrator 최신버젼 다운로드

최종 버전 다운로드 (.zip)

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# variational_integrator

Personnal implementation of a variational integrator for the simulation of dynamical systems in comparison with a Runge-Kutta 45 integrator.
A simple pendulum with one DoF is used as a test case using biorbd.

Ressources:

- E. R. Johnson and T. D. Murphey, "Scalable Variational Integrators
for Constrained Mechanical Systems in Generalized Coordinates,"
in IEEE Transactions on Robotics, vol. 25, no. 6, pp. 1249-1261, Dec. 2009, doi: 10.1109/TRO.2009.2032955.

- Wilson Jallet, Nicolas Mansard, Justin Carpentier. Implicit Differential Dynamic Programming. International Conference
 on Robotics and Automation (ICRA 2022), IEEE Robotics and Automation Society, May 2022, Philadelphia, United States.
 ff10.1109/ICRA46639.2022.9811647ff. ffhal-03351641v2f

- M. West, “Variational integrators,” Ph.D. dissertation, California Inst. Technol., Pasadena, CA, 2004. p 13
https://thesis.library.caltech.edu/2492/1/west_thesis.pdf

# Notes
This project was used as a first stage to implement discrete mechanics and optimal control in [bioptim](https://github.com/pyomeca/bioptim).

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