''Virtual-Cycling-Simulator'' is a project to simulate virtual cycling environment. With the simulator, cycling can be done using an exoskeleton instead of a cycling machine. The goal of the virtual cycling simulator is to calcualte the torques which hip/knee joints need to overcome at different cycling speed and loads. The method of this research can be used in other motions, for instance, running, walking, and even jumpping.
- A human dynamics model, exoskeleton dynamics model, as well as a bicycle dynamcis model is created.
- human model and exoskeleton model are created and wrote in C code verison using ''SymPy'' and ''Pydy''
- Cycling model is created in python language
- Direct collocaiton format optimization structure code is provided
For more detail of how these model be created, please look at the Wiki of this project.
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- numpy >= 1.14.3
- pydy >= 0.4.0
- scipy >= 1.1.0
- sympy >= 1.1.1
- cython >= 0.28.2
- matplotlib >= 2.2.2
- ipopt
- cyipopt
There are two ways of using this simulator: forward simulation and trajectory optimization.
Both of these two ways are included in example. Please check the README in the examples folder.
cyipopt is open-source code released under the EPL license.