Transcript Emma report

This week
• Goal: Implement Binh’s nonconvex lcp
formulation
– Read Kane’s Dynamics book to pick up basic idea
– Read Steve’s thesis
– Understood Binh’s code and talked with Binh
about it
• Goal2: Implement Nonlinear Friction
– Reading Jeff’s code
– CppAd: A numerical method to get the Jacobian
Next Week
• Goal: Implement Binh’s nonconvex lcp
formulation
– Implement in Matlab first
• Goal2: Implement Nonlinear Friction
– Explore CppAD
– Implement in dvc