Optimal 3D arm strategies for maximizing twist rotation during somersault of a rigid-body model

DOI10.1007/s11044-020-09759-5zbMath1476.70005OpenAlexW3092454526MaRDI QIDQ2049688

François Bailly, Loane Danès, Eve Charbonneau, Mickaël Begon

Publication date: 27 August 2021

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-020-09759-5

zbMATH Keywords

optimal controlbiomechanicsnumerical optimizationrigid-body dynamicssports performance

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Kinematics of mechanisms and robots (70B15) Existence theories for optimal control problems involving ordinary differential equations (49J15)

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Uses Software

• Ipopt
• CasADi
• GitHub
• RBDL

Cites Work

• The diver with a rotor
• Modeling and optimal control of human platform diving with somersaults and twists
• Improved quaternion-based integration scheme for rigid body motion
• Energetic versus sthenic optimality criteria for gymnastic movement synthesis
• Interior point methods for optimal control of discrete time systems
• Numerical integration of ordinary differential equations on manifolds
• The integration of angular velocity
• CasADi: a software framework for nonlinear optimization and optimal control
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Twisting Somersault
• Robot Dynamics Algorithms