Articulated System

WIP

Articulated Systems are a system of multiple bodies connected by joints. Each body has a set of collision bodies and visual objects. There are two types of articulated systems: Kinematic trees and closed-loop systems. Kinematic trees do not contain a loop. Consequently, the number of joints is equal to the number of bodies (for floating systems, we assign a floating joint on the root body). RaiSim can only simulate kinematic trees.

1. Model The state of an articulated system is called _pose_. A pose is composed of a velocity state (i.e., generalized velocity) and the positional state (i.e., generalized coordinate). Here, we denote them

1. Joints

• Revolute
• Prismatic
• Spherical
• Fixed

1. Bodies
   1. Collision Bodies

1. 1. Visual Objects

1. Kinematics

1. Dynamics