Posture and movement predictions

Posture_and_movement/Downloads/Kick1.any

@@ -56,15 +56,15 @@ Main = {
       AnyRefFrame &Thigh = .Shank.Knee;
     };
 
-    AnyKinEqSimpleDriver HipDriver = {
-      DriverPos = {-90*pi/180};
-      DriverVel = {90*pi/180}/..MyStudy.tEnd;
+    AnyKinDriver HipDriver = {
+      DriverPos0 = {-90*pi/180};
+      DriverVel0 = {90*pi/180}/..MyStudy.tEnd;
       AnyRevoluteJoint &Joint = .Hip;
     };
 
-    AnyKinEqSimpleDriver KneeDriver = {
-      DriverPos = {-90*pi/180};
-      DriverVel = {90*pi/180}/..MyStudy.tEnd;
+    AnyKinDriver KneeDriver = {
+      DriverPos0 = {-90*pi/180};
+      DriverVel0 = {90*pi/180}/..MyStudy.tEnd;
       AnyRevoluteJoint &Joint = .Knee;
     };
 

Posture_and_movement/Snippets/Intro/Kick.main.any

@@ -0,0 +1,112 @@
+// This model optimizes a football kicking motion of a two-segment
+// leg. The objective is to obtain maximum impact velocity within the
+// given strength of the leg.
+
+Main = {
+
+  // The model
+  AnyFolder MyModel = {
+
+    // Global Reference Frame
+    AnyFixedRefFrame GlobalRef = {
+      AnyDrawRefFrame drw = {
+        ScaleXYZ = {1,1,1}/5;
+      };
+    };  // Global reference frame
+
+    // The thigh and shank segments both presume a center of
+    // mass placed one third of the length from their proximal 
+    // ends
+    AnySeg Thigh = {
+      AnyVar Length = 0.45;
+      Mass = 7.5;
+      Jii = Mass*{1,0.05,1}/100;
+      AnyDrawSeg drw = {};
+      r0 = {0,-Length/2,0};
+      AnyRefNode Hip = {
+        sRel = {0,.Length/3,0};
+      };
+      AnyRefNode Knee = {
+        sRel = {0,-2*.Length/3,0};
+      };
+    };
+
+    AnySeg Shank = {
+      AnyVar Length = 0.50;
+      Mass = 3.5;
+      Jii = Mass*{1,0.05,1}/100;
+      r0 = {0,-.Thigh.Length-Length/2,0};
+      AnyDrawSeg drw = {};
+      AnyRefNode Knee = {
+        sRel = {0,.Length/3,0};
+      };
+      AnyRefNode Foot = {
+        sRel = {0,-2*.Length/3,0};
+      };
+    };
+
+    // We presume 2-D conditions and therefore use
+    // revolute joints for the hip as well as the knee.
+    AnyRevoluteJoint Hip = {
+      AnyRefFrame &Ground = .GlobalRef;
+      AnyRefFrame &Thigh = .Thigh.Hip;
+    };
+    AnyRevoluteJoint Knee = {
+      AnyRefFrame &Ground = .Thigh.Knee;
+      AnyRefFrame &Thigh = .Shank.Knee;
+    };
+
+    AnyKinDriver HipDriver = {
+      DriverPos0 = {-90*pi/180};
+      DriverVel0 = {90*pi/180}/..MyStudy.tEnd;
+      AnyRevoluteJoint &Joint = .Hip;
+    };
+
+//# BEGIN SNIPPET 1
+AnyKinDriver KneeDriver = {
+  DriverPos0 = {-90*pi/180};
+  DriverVel0 = {90*pi/180}/..MyStudy.tEnd;
+  AnyRevoluteJoint &Joint = .Knee;
+};
+
+§// Hip joint muscles
+AnyMuscleGeneric HipFlex = {
+    MuscleModel = &MusMdl;
+    Type = NonNegative;
+    AnyRevoluteJoint &Joint = .Hip;
+    AnyMuscleModel MusMdl = {F0 = 232;};
+};
+
+AnyMuscleGeneric HipExtend = {
+    MuscleModel = &MusMdl;
+    Type = NonPositive;
+    AnyRevoluteJoint &Joint = .Hip;
+    AnyMuscleModel MusMdl = {F0 = 251;};
+};
+
+// Knee joint muscles
+AnyMuscleGeneric KneeExtend = {
+    MuscleModel = &MusMdl;
+    Type = NonNegative;
+    AnyRevoluteJoint &Joint = .Knee;
+    AnyMuscleModel MusMdl = {F0 = 554;};
+};
+
+AnyMuscleGeneric KneeFlex = {
+    MuscleModel = &MusMdl;
+    Type = NonPositive;
+    AnyRevoluteJoint &Joint = .Knee;
+    AnyMuscleModel MusMdl = {F0 = 236;};
+};§
+//# END SNIPPET 1
+
+  }; // MyModel
+
+  // The study: Operations to be performed on the model
+  AnyBodyStudy MyStudy = {
+    AnyFolder &Model = .MyModel;
+    Gravity = {0.0, -9.81, 0.0};
+    nStep = 50;
+    tEnd = 0.2;
+  };
+};  // Main

Posture_and_movement/Snippets/Intro/Kick2.main.any

@@ -0,0 +1,114 @@
+// This model optimizes a football kicking motion of a two-segment
+// leg. The objective is to obtain maximum impact velocity within the
+// given strength of the leg.
+
+Main = {
+
+  // The model
+  AnyFolder MyModel = {
+
+    // Global Reference Frame
+    AnyFixedRefFrame GlobalRef = {
+      AnyDrawRefFrame drw = {
+        ScaleXYZ = {1,1,1}/5;
+      };
+    };  // Global reference frame
+
+    // The thigh and shank segments both presume a center of
+    // mass placed one third of the length from their proximal 
+    // ends
+    AnySeg Thigh = {
+      AnyVar Length = 0.45;
+      Mass = 7.5;
+      Jii = Mass*{1,0.05,1}/100;
+      AnyDrawSeg drw = {};
+      r0 = {0,-Length/2,0};
+      AnyRefNode Hip = {
+        sRel = {0,.Length/3,0};
+      };
+      AnyRefNode Knee = {
+        sRel = {0,-2*.Length/3,0};
+      };
+    };
+
+    AnySeg Shank = {
+      AnyVar Length = 0.50;
+      Mass = 3.5;
+      Jii = Mass*{1,0.05,1}/100;
+      r0 = {0,-.Thigh.Length-Length/2,0};
+      AnyDrawSeg drw = {};
+      AnyRefNode Knee = {
+        sRel = {0,.Length/3,0};
+      };
+      AnyRefNode Foot = {
+        sRel = {0,-2*.Length/3,0};
+      };
+    };
+
+    // We presume 2-D conditions and therefore use
+    // revolute joints for the hip as well as the knee.
+    AnyRevoluteJoint Hip = {
+      AnyRefFrame &Ground = .GlobalRef;
+      AnyRefFrame &Thigh = .Thigh.Hip;
+    };
+    AnyRevoluteJoint Knee = {
+      AnyRefFrame &Ground = .Thigh.Knee;
+      AnyRefFrame &Thigh = .Shank.Knee;
+    };
+
+//# BEGIN SNIPPET 1
+AnyKinDriver HipDriver = {
+  DriverPos0 = {-90*pi/180};
+  DriverVel0 = {90*pi/180}/..MyStudy.tEnd;
+  §Reaction.Type = {Off};§
+  AnyRevoluteJoint &Joint = .Hip;
+};
+
+AnyKinDriver KneeDriver = {
+  DriverPos0 = {-90*pi/180};
+  DriverVel0 = {90*pi/180}/..MyStudy.tEnd;
+  §Reaction.Type = {Off};§
+  AnyRevoluteJoint &Joint = .Knee;
+};
+//# END SNIPPET 1
+
+    // Hip joint muscles
+    AnyMuscleGeneric HipFlex = {
+        MuscleModel = &MusMdl;
+        Type = NonNegative;
+        AnyRevoluteJoint &Joint = .Hip;
+        AnyMuscleModel MusMdl = {F0 = 232;};
+    };
+
+    AnyMuscleGeneric HipExtend = {
+        MuscleModel = &MusMdl;
+        Type = NonPositive;
+        AnyRevoluteJoint &Joint = .Hip;
+        AnyMuscleModel MusMdl = {F0 = 251;};
+    };
+
+    // Knee joint muscles
+    AnyMuscleGeneric KneeExtend = {
+        MuscleModel = &MusMdl;
+        Type = NonNegative;
+        AnyRevoluteJoint &Joint = .Knee;
+        AnyMuscleModel MusMdl = {F0 = 554;};
+    };
+
+    AnyMuscleGeneric KneeFlex = {
+        MuscleModel = &MusMdl;
+        Type = NonPositive;
+        AnyRevoluteJoint &Joint = .Knee;
+        AnyMuscleModel MusMdl = {F0 = 236;};
+    };
+
+  }; // MyModel
+
+  // The study: Operations to be performed on the model
+  AnyBodyStudy MyStudy = {
+    AnyFolder &Model = .MyModel;
+    Gravity = {0.0, -9.81, 0.0};
+    nStep = 50;
+    tEnd = 0.2;
+  };
+};  // Main

Posture_and_movement/Snippets/Intro/Kick3.main.any

@@ -0,0 +1,139 @@
+// This model optimizes a football kicking motion of a two-segment
+// leg. The objective is to obtain maximum impact velocity within the
+// given strength of the leg.
+
+Main = {
+
+  // The model
+  AnyFolder MyModel = {
+
+    // Global Reference Frame
+    AnyFixedRefFrame GlobalRef = {
+      AnyDrawRefFrame drw = {
+        ScaleXYZ = {1,1,1}/5;
+      };
+    };  // Global reference frame
+
+    // The thigh and shank segments both presume a center of
+    // mass placed one third of the length from their proximal 
+    // ends
+    AnySeg Thigh = {
+      AnyVar Length = 0.45;
+      Mass = 7.5;
+      Jii = Mass*{1,0.05,1}/100;
+      AnyDrawSeg drw = {};
+      r0 = {0,-Length/2,0};
+      AnyRefNode Hip = {
+        sRel = {0,.Length/3,0};
+      };
+      AnyRefNode Knee = {
+        sRel = {0,-2*.Length/3,0};
+      };
+    };
+
+    AnySeg Shank = {
+      AnyVar Length = 0.50;
+      Mass = 3.5;
+      Jii = Mass*{1,0.05,1}/100;
+      r0 = {0,-.Thigh.Length-Length/2,0};
+      AnyDrawSeg drw = {};
+      AnyRefNode Knee = {
+        sRel = {0,.Length/3,0};
+      };
+      AnyRefNode Foot = {
+        sRel = {0,-2*.Length/3,0};
+      };
+    };
+
+    // We presume 2-D conditions and therefore use
+    // revolute joints for the hip as well as the knee.
+    AnyRevoluteJoint Hip = {
+      AnyRefFrame &Ground = .GlobalRef;
+      AnyRefFrame &Thigh = .Thigh.Hip;
+    };
+    AnyRevoluteJoint Knee = {
+      AnyRefFrame &Ground = .Thigh.Knee;
+      AnyRefFrame &Thigh = .Shank.Knee;
+    };
+
+//# BEGIN SNIPPET 1
+§//§ AnyKinDriver HipDriver = {
+§//§   DriverPos0 = {-90*pi/180};
+§//§   DriverVel0 = {90*pi/180}/..MyStudy.tEnd;
+§//§   Reaction.Type = {Off};
+§//§   AnyRevoluteJoint &Joint = .Hip;
+§//§ };
+
+§//§ AnyKinDriver KneeDriver = {
+§//§   DriverPos0 = {-90*pi/180};
+§//§   DriverVel0 = {90*pi/180}/..MyStudy.tEnd;
+§//§   Reaction.Type = {Off};
+§//§   AnyRevoluteJoint &Joint = .Knee;
+§//§ };
+
+§// Some initial guesses for the hip and knee angle
+// movements.
+AnyKinEqInterPolDriver HipDriver = {
+  T = {0, 0.25, 0.50, 0.75, 1}*..MyStudy.tEnd;
+  Data = {{-30, -30, -15, 0, 30}}*pi/180;
+  Type = Bspline;
+  BsplineOrder = 4;
+  AnyRevoluteJoint &Joint = .Hip;
+  Reaction.Type = {Off};
+};
+
+AnyKinEqInterPolDriver KneeDriver = {
+  T = {0, 0.25, 0.50, 0.75, 1}*..MyStudy.tEnd;
+  Data = {{-70, -70, -50, -40, -30}}*pi/180;
+  Type = Bspline;
+  BsplineOrder = 4;
+  AnyRevoluteJoint &Joint = .Knee;
+  Reaction.Type = {Off};
+};§
+//# END SNIPPET 1
+
+    // Hip joint muscles
+    AnyMuscleGeneric HipFlex = {
+        MuscleModel = &MusMdl;
+        Type = NonNegative;
+        AnyRevoluteJoint &Joint = .Hip;
+        AnyMuscleModel MusMdl = {F0 = 232;};
+    };
+
+    AnyMuscleGeneric HipExtend = {
+        MuscleModel = &MusMdl;
+        Type = NonPositive;
+        AnyRevoluteJoint &Joint = .Hip;
+        AnyMuscleModel MusMdl = {F0 = 251;};
+    };
+
+    // Knee joint muscles
+    AnyMuscleGeneric KneeExtend = {
+        MuscleModel = &MusMdl;
+        Type = NonNegative;
+        AnyRevoluteJoint &Joint = .Knee;
+        AnyMuscleModel MusMdl = {F0 = 554;};
+    };
+
+    AnyMuscleGeneric KneeFlex = {
+        MuscleModel = &MusMdl;
+        Type = NonPositive;
+        AnyRevoluteJoint &Joint = .Knee;
+        AnyMuscleModel MusMdl = {F0 = 236;};
+    };
+
+  }; // MyModel
+//# BEGIN SNIPPET 2
+// The study: Operations to be performed on the model
+AnyBodyStudy MyStudy = {
+  AnyFolder &Model = .MyModel;
+  InverseDynamics.Criterion.Type = MR_MinMaxStrict;
+  Gravity = {0.0, -9.81, 0.0};
+  nStep = 50;
+  tEnd = 0.2;
+  §AnyOutputFun BallVel= {
+    Val = 1.5*Main.MyModel.Shank.Mass*Main.MyModel.Shank.rDot[0]/(0.2+Main.MyModel.Shank.Mass);
+  };§
+};
+//# END SNIPPET 2
+};  // Main