Analysis of underactuated dynamic locomotion systems using perturbation expansion: the twistcar toy example (Q2400142)

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Analysis of underactuated dynamic locomotion systems using perturbation expansion: the twistcar toy example
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    Analysis of underactuated dynamic locomotion systems using perturbation expansion: the twistcar toy example (English)
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    28 August 2017
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    The present work is devoted to an application of nonholonomic mechanics. More precisely, the authors study underactuated dynamic locomotion systems governed by nonholonomic constraints. They use a perturbation expansion in order to analyze explicitly the leading-order dynamics of the twistcar toy vehicle which is governed by momentum evolution and nonholononomic constraints of no-slip at the wheels.
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    underactuated system
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    robotic locomotion
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    nonholonomic constraint
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    asymptotic analysis
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