StaticCalciumRightKneeMuscles/ActuationDynamics.scilab File Reference

Compute the generalized Torques and derivative of tightness and forces of muscles. More...

Functions
rets	ActuationDynamics (type t, type q, type qdot, type z, type State)
	Compute the generalized Torques and derivative of tightness and forces of muscles.

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Detailed Description

Compute the generalized Torques and derivative of tightness and forces of muscles.

Author:

Pierre-Brice Wieber

Affiliation(s): INRIA, team BIPOP

Email(s): Pierre-Brice.Wieber@inria.fr

Description:

Modifications: $Log$ Revision 1.3 2005/05/04 13:13:14 billet Correction and changes for doxygen documentation

Revision 1.2 2005/05/03 11:45:12 billet Comments for doxygen documentation

Revision 1.1.1.1 2005/02/08 13:05:04 rpissard version start HuMAnS

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Function Documentation

rets ActuationDynamics	(	type	t,
		type	q,
		type	qdot,
		type	z,
		type	State
	)

Compute the generalized Torques and derivative of tightness and forces of muscles.

Parameters:

	t	(float) time
	q	(float vector, size = NDOF) position
	qdot	(float vector, size = NDOF) velocity
	z	(float vector, size = 2*Nmuscles) tightness and forces of muscles
	State	(float vector, size = variable, >= 4*Nmuscles + 2 ) state of actuators switchs

Returns:

zdot (float vector, size = 2*Nmuscles) derivate tightness and derivate forces of muscles

Torques (float vector, size = NDOF) generalized torques

HuMAnS

humans-users@inrialpes.fr

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