models.actuation

Actuation: how motor angles follow from q, and how motor torques u give τ = B(q) u.

Classes

Actuation(*args, **kwargs)

How motors drive a robot.

Direct([efficiency])

One actuator per generalized coordinate: motor angles θ = q, B = I, u = τ.

Passive(nv)

No motors: a part that nothing drives, with nv velocity coordinates (a free body).

TendonTransmission(delta, r[, efficiency])

Rigid tendons on PCC segments, with motor angle θ = −ΔL / r: θ > 0 pulls a tendon.

Underactuated(B[, q_rest, efficiency])

Fewer motors than coordinates: motor angles θ = Bᵀ q and generalized forces τ = B u.