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

DOI10.1007/S00332-016-9357-YMaRDI QIDQ2400142zbMATH OpenOpenAlexFDO

Authors Ofir Chakon, Yizhar Or

Publication date 28 August 2017

Published in Journal of Nonlinear Science (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00332-016-9357-y

zbMATH Keywords

asymptotic analysisnonholonomic constraintrobotic locomotionunderactuated system

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) Kinematics of mechanisms and robots (70B15) Dynamics of multibody systems (70E55) Robot dynamics and control of rigid bodies (70E60) Perturbation theories for problems in Hamiltonian and Lagrangian mechanics (70H09)

Review text

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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Cites work

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Cited in

(4)

• Sinusoidal control and limit cycle analysis of the dissipative Chaplygin sleigh
• The wheeled three-link snake model: singularities in nonholonomic constraints and stick-slip hybrid dynamics induced by Coulomb friction
• The problem of acceleration in the dynamics of a double-link wheeled vehicle with arbitrarily directed periodic excitation
• Roller racer with varying gyrostatic momentum: acceleration criterion and strange attractors

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