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Configuration controllability of simple mechanical control systems
(Society for Industrial and Applied Mathematics, 1995)
In this paper we present a definition of "configuration controllability" for mechanical systems whose Lagrangian is kinetic energy with respect to a Riemannian metric minus potential energy. A computable test for this ...
Nonholonomic mechanics and locomotion: the snakeboard example
Analysis and simulations are performed for a simplified model of a commercially available variant on the skateboard, known as the Snakeboard.1 Although the model exhibits basic gait patterns seen in a large number of ...
Decompositions of control systems on manifolds with an affine connection
In this letter we present a decomposition for control systems whose drift vector field is the geodesic spray associated with an affine connection. With the geometric insight gained with this decomposition, we are able to ...
Variational principles for constrained systems: theory and experiment
In this paper we present two methods, the nonholonomic method and the vakonomic method, for deriving equations of motion for a mechanical system with constraints. The resulting equations are compared. Results are also ...