Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2022
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| _version_ | 1866913407456772096 |
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| author | Simoes, Alexandre Anahory López-Gordón, Asier Bloch, Anthony Colombo, Leonardo |
| author_facet | Simoes, Alexandre Anahory López-Gordón, Asier Bloch, Anthony Colombo, Leonardo |
| contents | Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. In this paper we model a passive walker with foot slip by using techniques of geometric mechanics, and we construct forced variational integrators for the system. Moreover, we present a methodology for generating (locally) optimal control policies for simple hybrid holonomically constrained forced Lagrangian systems, based on discrete mechanics, applied to a controlled walker with foot slip in a trajectory tracking problem. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2209_14255 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage Simoes, Alexandre Anahory López-Gordón, Asier Bloch, Anthony Colombo, Leonardo Systems and Control Optimization and Control Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. In this paper we model a passive walker with foot slip by using techniques of geometric mechanics, and we construct forced variational integrators for the system. Moreover, we present a methodology for generating (locally) optimal control policies for simple hybrid holonomically constrained forced Lagrangian systems, based on discrete mechanics, applied to a controlled walker with foot slip in a trajectory tracking problem. |
| title | Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2209.14255 |