Single or Double Pendulum?

Single or Double Pendulum?

Why?

If we want to use visual cuing from the video (later), the head motion should match as much as we can. Well may be not critical for the OpenLoop but as least it would be nice to see if it works in that simpler case.

Why I think it would work?

• If the head range of motion and angle rate is bounded, the Gyro measure should be mostly allocated to the torso lean motion by the solver
• Because of the mass ratio between the torso and the head, the solution should find a way to use torso motion to produce momentum
• I think the redundancy of information between the Gyr and Acc measured should help to discriminate torso to head motion

What link?

• Pin is nice to start
• Spherical may hold if we use 3D Acc and Gyr, would be nice for the CloseLoop not to introduce inconsistency between head motion and experimentally derived optical flow

The issue does not identify files, tests, or entry points. Start by locating the open-loop dynamics and trajectory-optimization code, then compare single- and double-pendulum models with pin and spherical links; done means choosing and documenting a model that supports the stated head-motion and sensor considerations.