The Final Project for the Simulation of Movement course consists of choosing one model of our interest and using the knowledge achieved during the course and laboratories and simulate the movement from a starting position and final position using Dynamic Optimization Methods using Direct Collocation (DC) using CasADI[1][3] as a library inside MatLab.
This model has in the end 10 degrees of freedom as described however it only has 7 joint moments regarding from the 4th to the 10th coordinates. So it is a under torqued model in which the Optimization Solver is going to take a little a little more to compute the optimal solution.
In conclusion the simulation of movement project has been a success. The main objective of the project was to get comfortable with MATLAB and the CasADI framework and also with the model selected to perform the dynamic optimization problem. For instance I think that this project helped us a lot to internalise the methods learnt during the course especially the formulation of the kinematics and the dynamic optimization method using direct collocation (DC).
Also, The three-step cost functions (L1,L2,L3) successfully transformed the initial erratic motion into a dynamic, human-resembling walk. Furthermore, the project demonstrated the efficiency of digital models in approximating forces, particularly the reaction forces between feet and floor. This not only validated the muscle-generated movement but also showcased the potential for cost-effective simulations to replace traditional, expensive force plate measurements. In essence, this project not only provides insights into optimizing movement dynamics but also highlights the true potential of digital simulations, making them valuable tools for cost-efficient bio-mechanical analyses and enhancing our understanding of human-like motion.