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Numerical simulation written in python to express the motion of a spherical robot by modelling its dynamics via a Hamiltonian equations of motion.
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Corresponding differential equations will be discretized in a way which preserves the geometric structure of the motion dynamics and generates minimum error trajectories given a set of initial conditions.
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Project at IIT Bombay under the supervision of Dr. Ravi Banavar, Systems and Control Department
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Shobuj-Paul/Motion-of-Spherical-Robot
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Project at IIT Bombay under the supervision of Dr. Ravi Banavar, Systems and Control Department
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