Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Optimal motion synthesis of closed-loop multibody systems is carried out using a penalty technique designed in order to avoid dealing with dynamic models described by differential algebraic equations. This approach allows for both implementing Pontryagin's maximum principle as an optimization tool, and using the same state equation to describe the dynamics of structure-varying kinematic chains. The method presented is especially suitable to deal with unilateral mechanical constraints.  take advantage of this possibility to generate an optimal complete step of a planar biped.
['Stéphane Chessé', 'Guy Bessonnet']
I am writing a research paper on a idea Optimal dynamics of constrained multibody systems. I am writing a research paper on a idea Application to bipedal walking synthesis
[{"from": "human", "value": "I am writing a research paper on a idea Optimal dynamics of constrained multibody systems. I am writing a research paper on a idea Application to bipedal walking synthesis"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Optimal motion synthesis of closed-loop multibody systems is carried out using a penalty technique designed in order to avoid dealing with dynamic models described by differential algebraic equations. This approach allows for both implementing Pontryagin's maximum principle as an optimization tool, and using the same state equation to describe the dynamics of structure-varying kinematic chains. The method presented is especially suitable to deal with unilateral mechanical constraints.  take advantage of this possibility to generate an optimal complete step of a planar biped."}]