Wheelchair-only OCP with rolling constraint

Ipuch / wheelchair-ocp

Optimal control for wheelchair propulsion

MIT License

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Wheelchair-only OCP with rolling constraint #2

Closed SamHybz closed 7 months ago

SamHybz commented 7 months ago

Simple OCP : 2 DoF for the wheelchair only, torque-actuated. Rolling constraint implemented : issue with the sign (?) Next step: adding the upper limbs+handrim constraint

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