Import upstream snapshot 57d13ead53206a6bf0db3d66f86506ae8c2ce01a

Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
2026-08-28 15:42:08 +08:00
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+Theory
+======
+
+This section covers the theoretical foundations behind BAM: the pendulum
+bench dynamics, the friction-budget formulation used in simulation, and the
+six friction model variants M1–M6.
+
+It follows the modeling and identification approach introduced
+in the paper `"Extended Friction Models for the Physics Simulation of Servo
+Actuators" <https://arxiv.org/pdf/2410.08650>`_ by Marc Duclusaud, Gregoire Passault, Vincent Padois, and Olivier
+Ly .
+
+.. grid:: 1 2 2 2
+    :gutter: 3
+    :class-container: bam-getting-started
+
+    .. grid-item-card:: 📐 Theoretical framework
+        :link: theory
+        :link-type: doc
+        :class-card: bam-card
+
+        The pendulum test bench dynamics and the friction-budget formulation
+        used to apply BAM models in simulation.
+
+        +++
+        :doc:`Theoretical framework → <theory>`
+
+    .. grid-item-card:: 🧮 Friction models (M1–M6)
+        :link: models
+        :link-type: doc
+        :class-card: bam-card
+
+        The six friction models of increasing expressiveness, from Coulomb
+        friction to load-dependent and Stribeck effects.
+
+        +++
+        :doc:`Friction models → <models>`
+
+    .. grid-item-card:: ⚙️ DC motor
+        :link: dc_motor
+        :link-type: doc
+        :class-card: bam-card
+
+        How servomotor sources are modeled as DC motors, turning current into
+        torque.
+
+        +++
+        :doc:`DC motor → <dc_motor>`
+
+.. toctree::
+   :hidden:
+
+   theory
+   models
+   dc_motor