e-book Nonsmooth Impact Mechanics: Models, Dynamics and Control

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Additionally, numerical methods for dynamic simulations of such systems are developed.


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Dynamic motion of walking and running in humans, animals and legged robots is governed by intermittent contacts with the environment. The contact motion transitions from sliding to rolling to separation and impact. This induces a non-smooth behavior which is described by models of hybrid dynamical systems. Motion experiments on robotic systems will be conducted and analyzed in order to improve existing theoretical model, and for development of advanced control techniques of such mechanical systems.

Wheeled vehicles such as the Twistcar toy car and Snakeboard glider belong to a class of underactuated vehicles with nonlinear dynamics, whose motion is generated by internal configuration changes that induce an interaction between momentum balances and nonholonomic constraints of no-slip at the wheels. In this research program, the motion control of such vehicles is analyzed by utilizing methods of geometric mechanics, where the objective is extending the existing theory to motion on uneven terrain and incorporation of effects of wheels slippage.

In the laboratory, robotic prototypes of such vehicles will be constructed in order to demonstrate advanced nonlinear control methods. Additionally, numerical models and tools for dynamic simulation of such vehicles will be developed.


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      Modern Robotics, Chapter 8.1: Lagrangian Formulation of Dynamics (Part 2 of 2)

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