Thunder_Dynamics: an Application to Elastic Systems

This paper presents an extension of Thunder Dynamics for elastic joint systems. Thunder Dynamics provides automated tools for generating dynamic models and parameter identification regressors through both high-level and low-level interfaces. The library enables users to create standalone C++ libraries with Python bindings and supports symbolic parameter manipulation for adaptive control implementation. We demonstrate potential applications to variable stiffness actuators characterized by nonlinear elastic couplings modeled as polynomials with odd exponents. The framework addresses the critical need for standardized tools in robotics research and development, offering both computational efficiency and extensibility for handling complex robotic systems, including elastic joint mechanisms.