We write software in the lab and strive to make it open source to facilitate reuse and collaboration. It is ideal if lab members 1) use the software we write, 2) report bugs and issues, and 3) contribute back to the software. The more we do all three points the more universally useful and easy to use the software becomes for future use both by us and others outside the lab. This page highlights the software that we have designed to be more easily reusable and that we continuously maintain. It takes a collective effort from all lab members to keep these tools useful to all of us.
I Need To...
- find the body segment parameters (mass, inertia) of a person: yeadon
- estimate the inertia of a bicycle: BicycleParameters
- estimate dynamics model parameters from measured data: opty
BicycleParameters
Generation and manipulation of bicycle physical parameters. If you measure the geometry, mass, inertia of a bicycle and/or rider you can use this package to process the measurements. It also has generic parameter sets and models that can be used to do dynamics analysis of bicycles. Lastly, it has a web application for exploring the linear Carvallo-Whipple model's properties.
opty
opty is our general toolbox for solving optimal control problems (trajectory optimization & parameter identification) using the direct collocation + nonlinear programming method.
- Sorgedrager, Simon, “Riding a Bicycle Without Hands: How To Do It and the Bicycle Dynamics Behind It,” 2025, MSc, Delft University of Technology. https://resolver.tudelft.nl/uuid:ee22c5d1-b27f-4542-8a49-71d92a9e2f55
- T. J. Stienstra, S. G. Brockie, and J. K. Moore, “BRiM: A modular bicycle-rider modeling framework,” presented at the Bicycle and Motorcycle Dynamics 2023, Delft, The Netherlands: TU Delft OPEN Publishing, Oct. 2023. https://doi.org/10.59490/660179a06bf1082286458109
yeadon
Takes geometrical measurements of a person and generates body segment parameters (mass, inertia) following Fred Yeadon's model.