Analysis of underactuated dynamic locomotion systems using perturbation expansion: the twistcar toy example (Q2400142)
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scientific article; zbMATH DE number 6766182
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| English | Analysis of underactuated dynamic locomotion systems using perturbation expansion: the twistcar toy example |
scientific article; zbMATH DE number 6766182 |
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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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0.7144708037376404
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0.7006648778915405
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0.685958743095398
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0.6834293007850647
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0.6820412278175354
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