Cat Modeling

This code creates two cat models that can achieve a flipping maneuver. The first is simply two segments connected by a 2-degree-of-freedom (no twist) joint. It exhibits the counter-rotation mechanism of flipping. The second builds on top of the first with actuate-able legs, and a twist degree of freedom between the model's two halves. This model exhibits both the counter-rotation and variable- inertia mechanisms of flipping.

#include <OpenSim/OpenSim.h>

int main(int argc, char *argv[])
{
    // First model: exhibiting the counter-rotation mechanism of flipping
    // ========================================================================
    // Mass and geometry properties
    // ------------------------------------------------------------------------


    // Define anterior and posterior halves of the cat
    // ------------------------------------------------------------------------
	// ********** PART A.1 **********

    // Define joints between bodies (ground and two halves)
    // ------------------------------------------------------------------------
	// ********** PART A.2 **********

    // Add bodies to the model
    // ------------------------------------------------------------------------
	// ********** PART A.3 **********	

    // Display geometry
    // ------------------------------------------------------------------------
	// ********** PART A.4 **********

    // Actuation
    // ------------------------------------------------------------------------
	// ********** PART A.5 **********    

    // Print the model
    // ------------------------------------------------------------------------
    cat.print("flippinfelines_hunch_wag.osim");
    
    
    // Second model: adding legs for the variable-inertia mechanism of flipping
    // ========================================================================
	// ********** PART B   **********    


	return EXIT_SUCCESS;
};

// First model: exhibiting the counter-rotation mechanism of flipping
// ========================================================================
// ********** PART A   ********** 	

// Second model: adding legs for the variable-inertia mechanism of flipping
// ========================================================================
        
    
// Leg properties
// ------------------------------------------------------------------------
    
    
// Define leg bodies
// ------------------------------------------------------------------------
    
    
// Define leg joints (i.e., between legs and two halves of cat)
// ------------------------------------------------------------------------

        
// Add bodies to the model
// ------------------------------------------------------------------------
// ...now that we have connected the bodies via joints.

    
// Display geometry
// ------------------------------------------------------------------------

    
// Actuation
// ------------------------------------------------------------------------

    
// Enforce joint limits on the legs
// ------------------------------------------------------------------------

    
    
// Print the model
// ------------------------------------------------------------------------