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Systems Dynamics

Systems Dynamics

We have developed dynamic models and designs for vehicles, biomechatronics, robots, pianos, machines, and sports equipment. Deriving the kinematic and dynamic equations for such 3D multibody systems is tedious and error-prone, so we use linear graph theory and symbolic computing to develop formulations that automatically generate the equations of motion. Graph theory provides a unified approach for multiple domains (e.g. mechanical, electrical, hydraulic), while symbolic computing (MapleSim, which uses our algorithms) results in highly-optimized code for real-time simulation.

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