Dynamics and control of separable coupled rigid body systems.

This paper explores the dynamics of separable coupled rigid body systems, a special class of constrained rigid body systems. These are defined as two systems that interact with each other by forces of contact, resulting in a reduction in dimensionality and complexity. The mechanics and consequences of this reduction are investigated here. The basic hypothesis and an example of the reduction in two successive steps are formulated. A simple mechanical biped model is developed and analyzed in some details by both system theoretical concepts and simulations. The main contribution of this work is the novel extension to the known dynamics of constrained rigid bodies. The modular, versatile and systematic formulation presented here is computationally efficient and has many applications in the studies of the human neuro-musculoskeletal system, robotic systems and humanoids, as well as clinical and sports biomechanics applications. Computer simulations are provided to demonstrate the feasibility and effectiveness of the methodology.