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 .


.. toctree::
   :maxdepth: 2

   theory
   models