From gymnastics to virtual nonholonomic constraints: energy injection, dissipation, and regulation for the acrobot
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arXiv
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| Format: | Preprint |
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2024
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| _version_ | 1866917800617967616 |
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| author | Moran-MacDonald, Adan Maggiore, Manfredi Wang, Xingbo |
| author_facet | Moran-MacDonald, Adan Maggiore, Manfredi Wang, Xingbo |
| contents | In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedback control. We design a constraint which emulates gymnastics giant motion in an acrobot, and prove that this constraint can inject or dissipate energy based on the sign of a design parameter. The proposed constraint is tested both in simulation and experimentally on a real-world acrobot, demonstrating highly effective energy regulation properties and robustness to a variety of disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_08653 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | From gymnastics to virtual nonholonomic constraints: energy injection, dissipation, and regulation for the acrobot Moran-MacDonald, Adan Maggiore, Manfredi Wang, Xingbo Robotics Optimization and Control In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedback control. We design a constraint which emulates gymnastics giant motion in an acrobot, and prove that this constraint can inject or dissipate energy based on the sign of a design parameter. The proposed constraint is tested both in simulation and experimentally on a real-world acrobot, demonstrating highly effective energy regulation properties and robustness to a variety of disturbances. |
| title | From gymnastics to virtual nonholonomic constraints: energy injection, dissipation, and regulation for the acrobot |
| topic | Robotics Optimization and Control |
| url | https://arxiv.org/abs/2410.08653 |