moorepants

study:
        id: 1
        name: Gait Control Identification
        description: Perturb the subject during walking and running.
subject:
        id: 8
        age: 20
        mass: 70
        mass-units: kilograms
        height: 1.572

moorepants

moorepants

moorepants

import sympy as sm

g, tf, x0 = sm.symbols('g, tf, x0', real=True, positive=True)
t, vf = sm.symbols('t, vf', real=True)
x, v = sm.symbols('x, v', cls=sm.Function)

accel = sm.Eq(x(t).diff(t, 2), -g)
position = sm.dsolve(accel, x(t))
C1, C2, _, _ = list(sm.ordered(position.free_symbols))
velocity = sm.dsolve(accel.subs({x(t).diff(t): v(t)}), v(t))

moorepants

import matplotlib.pyplot as plt
from matplotlib.path import Path
import matplotlib.patches as patches

s = "m 369.01724,467.04725 c -0.18526,2.57511 0.025,3.71002 -0.74575,6.17343 -1.53222,4.89942 -7.46833,7.60079 -8.99133,12.50302 -1.75723,5.65693 -0.76258,11.95174 0.37357,17.76566 1.34911,6.90236 5.61166,12.84732 7.04916,19.73262 0.66711,3.19499 0.60249,6.59014 -0.27085,9.73526 -0.9587,3.45198 -3.089,5.23513 -4.4528,8.54866 -1.21939,2.96186 -2.15924,6.50136 -1.66722,9.6668 0.55788,3.58921 2.31624,7.05338 4.75882,9.74186 0.76564,0.84272 2.2695,1.96683 3.33049,2.37969 2.95478,1.1512 6.02208,1.86489 9.19306,1.87852 3.3538,0.0148 6.69086,-0.81148 9.68045,-2.33079 1.6753,-0.85214 2.95914,-3.06572 3.55483,-4.84835 1.59252,-4.76535 -0.99967,-9.16932 -1.47916,-14.171 -0.65213,-6.80233 -2.15122,-13.65888 -1.41097,-20.45291 0.4785,-4.39107 3.41465,-8.30725 3.73802,-12.71261 0.23998,-3.26968 -0.68483,-6.32005 -0.14903,-9.55505 0.32782,-1.97814 1.27144,-3.56144 1.49529,-5.55522 0.30253,-2.69162 -0.67713,-5.5023 -1.9641

moorepants

moorepants

Windows Install Instructions

- Install msysgit from http://msysgit.github.io/
default options
Use Git from Git Bash Only
CHeckout windows-style, commit unix-style line endings

Install Anaconda from continuum.io/downloads
- select install for "Just Me"
- check "add anaconda to my PATH environment variable"

moorepants

"""This is just a derivation of the model described here:

    http://www.moorepants.info/notebook/notebook-2014-04-23.html
"""
from sympy import symbols
import sympy.physics.mechanics as me

mass_treadmill, mass_foot, mass_shank = symbols('m_t, m_f, m_s')
joint_stiffness, joint_damping = symbols('k, c')
gravity = symbols('g')

moorepants

import sympy as sm
import numpy as np
from pydy.models import n_link_pendulum_on_cart
from pydy.codegen.ode_function_generators import generate_ode_function

sys = n_link_pendulum_on_cart(10, True, True)

x = np.random.random(len(sys.coordinates) + len(sys.speeds))
t = 0.0
r = np.random.random(len(sys.specifieds_symbols))

moorepants