Control of locomotion systems and dynamics in relative periodic orbits

DOI10.3934/JGM.2020022zbMath1459.37092OpenAlexW3045828722MaRDI QIDQ2220264

Simone Passarella, Marta Zoppello, Francesco Fassoò

Publication date: 22 January 2021

Published in: Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.3934/jgm.2020022

zbMATH Keywords

reconstructiongeometric phasesequivariant dynamicsrelative periodic orbitstrajectory generationscallop theoremrobotic locomotion systems

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control problems involving ordinary differential equations (34H05) Robot dynamics and control of rigid bodies (70E60) Dynamical systems in control (37N35)

Related Items (4)

First integrals and symmetries of nonholonomic systems ⋮ On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution ⋮ Limit cycles for dynamic crawling locomotors with periodic prescribed shape ⋮ Stabilization of periodic sweeping processes and asymptotic average velocity for soft locomotors with dry friction

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