High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

Project on numerical computation for the dynamics of mechanical systems. Simulation of particle, rigid body and Multibody systems.

Stability was analyzed through kinematics, and the relationship between stiffness and mobility was confirmed through quasi-static analysis. Multibody dynamics simulations were conducted to evaluate ...