@ARTICLE{Koch_Michael_W._Structure_2013,
 author={Koch, Michael W. and Leyendecker, Sigrid},
 volume={vol. 60},
 number={No 1},
 journal={Archive of Mechanical Engineering},
 pages={127-146},
 howpublished={online},
 year={2013},
 publisher={Polish Academy of Sciences, Committee on Machine Building},
 abstract={The human environment consists of a large variety of mechanical and biomechanical systems in which different types of contact can occur. In this work, we consider a monopedal jumper modelled as a three-dimensional rigid multibody system with contact and simulate its dynamics using a structure preserving method. The applied mechanical integrator is based on a constrained version of the Lagrange-d’Alembert principle. The resulting variational integrator preserves the symplecticity and momentum maps of the multibody dynamics. To ensure the structure preservation and the geometric correctness, we solve the non-smooth problem including the computation of the contact configuration, time and force instead of relying on a smooth approximation of the contact problem via a penalty potential. In addition to the formulation of non-smooth problems in forward dynamic simulations, we are interested in the optimal control of the monopedal high jump. The optimal control problem is solved using a direct transcription method transforming it into a constrained optimisation problem, see [14].},
 type={Artykuły / Articles},
 title={Structure preserving simulation of monopedal jumping},
 URL={http://ochroma.man.poznan.pl/Content/84699/PDF/08_paper.pdf},
 doi={10.2478/meceng-2013-0008},
 keywords={perfectly elastic contact, perfectly plastic contact, optimal control, structure preserving simulation},
}