Optimal Trajectories and Controls for Systems of Coupled Rigid Bodies

This paper presents a mathematical programming method for the performance synthesis of dynamic systems modelled by coupled rigid bodies. A technique is given for the decomposition and efficient evaluation of the trajectories and internal forces (controls) which cause a system to optimally perform tasks which may include cyclic relative motions between the bodies. The technique is useful for the synthesis of variable structure devices such as robots and all-terrain vehicles, and for the analysis of human and animal locomotion.