Natural Coordinates with python for biomechanics

Implementation of real-time variant of RRT* called RT-RRT* capable of dealing with dynamic obstacles and changing goal locations.

Project on numerical computation for the dynamics of mechanical systems. Simulation of particle, rigid body and Multibody systems.

Implementation of real-time variant of RRT* called RT-RRT* capable of dealing with dynamic obstacles and changing goal locations.

This is a Julia implementation of Moreau's time-stepping algorithm. The implementation allows for unilateral (contact) and bilateral (holonomic) constraints as well as additional continuous dynamics (such as electrical motors for actuation).