Optimality equivalence and computational advantages of free-floating base dynamics compared to full-body dynamics
dc.contributor.author | Puchaud, Pierre | |
dc.contributor.author | Charbonneau, Eve | |
dc.contributor.author | Michaud, Benjamin | |
dc.contributor.author | Begon, Mickaël | |
dc.date.accessioned | 2023-02-15T13:14:09Z | |
dc.date.available | MONTHS_WITHHELD:24 | fr |
dc.date.available | 2023-02-15T13:14:09Z | |
dc.date.issued | 2022-12-19 | |
dc.identifier.uri | http://hdl.handle.net/1866/27546 | |
dc.publisher | Elsevier | fr |
dc.subject | Optimal control | fr |
dc.subject | Direct multiple shooting | fr |
dc.subject | Predictive simulation | fr |
dc.subject | Biomechanics | fr |
dc.subject | Acrobatics | fr |
dc.title | Optimality equivalence and computational advantages of free-floating base dynamics compared to full-body dynamics | fr |
dc.type | Article | fr |
dc.contributor.affiliation | Université de Montréal. Faculté de médecine. École de kinésiologie et des sciences de l'activité physique | fr |
dc.identifier.doi | 10.1016/j.mechmachtheory.2022.105164 | |
dcterms.abstract | Several transcription methods exist for predictive simulations of free-floating base motions like athlete performing twisting somersaults. Following a brief overview of the literature, we proposed two original direct multiple shooting optimal control problems: (1) with a reduced set of equations motion (free-floating base dynamics) and generalized accelerations as controls; and (2) with the dynamics enforced implicitly through algebraic constraints and generalized jerks as controls. To assess their performance (computational time, dynamic consistency, cost), we compared full-body vs free-floating base dynamics and explicit vs implicit formulations of an optimal control problem of a double straight somersault with three twists. We found that free-floating dynamics is relevant when bounds on joint torques are not required since it hastens the convergence up to 10 times and the optimal solutions are similar. Implicit dynamics also speeds up optimization compared to the explicit formulation, but dynamic consistency may be affected. Using joint jerks instead of accelerations as controls mitigates this limitation, especially when the mesh grid densifies. | fr |
dcterms.isPartOf | urn:ISSN:0094-114X | fr |
dcterms.language | eng | fr |
dcterms.relation | https://data.mendeley.com/datasets/rz8t786st8 | fr |
dcterms.relation | https://github.com/Ipuch/OnDynamicsForSomersaults | fr |
UdeM.ReferenceFournieParDeposant | https://doi.org/10.1016/j.mechmachtheory.2022.105164 | fr |
UdeM.VersionRioxx | Version acceptée / Accepted Manuscript | fr |
oaire.citationTitle | Mechanism and machine theory | fr |
oaire.citationVolume | 181 | fr |
Files in this item
This item appears in the following Collection(s)
This document disseminated on Papyrus is the exclusive property of the copyright holders and is protected by the Copyright Act (R.S.C. 1985, c. C-42). It may be used for fair dealing and non-commercial purposes, for private study or research, criticism and review as provided by law. For any other use, written authorization from the copyright holders is required.