On modeling and locomotion of hybrid mechanical systems with impacts
On modeling and locomotion of hybrid mechanical systems with impacts
复制标题
具有影响的混合机械系统的建模和运动
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
M. Žefran
中科院分区：
文献类型：
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作者：
F. Bullo;M. Žefran
步行机是在动力学方程中受到冲击和变化的机械系统，可以被视为混合系统的一个子类。在这项工作中，我们集中在一类平面机构，它可以通过塑料冲击和夹紧运动。这一设置保留了足够的结构来研究运动中的离散现象。我们使用几何框架来描述平滑现象，如惯性力和约束力，以及离散事件，如碰撞。在这一背景下，混杂机械控制系统被描述为仿射连接和线性跳跃转移映射。对于这类系统，我们进行了局部能控性分析。特别是，我们使用配置可控性的概念来识别能够通过夹紧移动的系统。此外，我们还讨论了如何使平滑运动规划算法适应这种混合设置，并提供了一些有指导意义的步态集。
Walking machines are mechanical systems that undergo impacts and changes in dynamic equations and can be viewed as a subclass of hybrid systems. In this work we focus on a class of planar mechanisms that can locomote through plastic impacts and clamping. This setting retains enough structure to investigate discrete phenomena in locomotion. We use a geometric framework to describe smooth phenomena such as inertial and constraint forces and discrete events such as impacts. In this setting hybrid mechanical control systems are described in terms of affine connections and linear jump transition maps. For this class of systems we perform a local controllability analysis. In particular we employ the notion of configuration controllability to identify systems that are able to locomote by clamping. Additionally, we discuss how to adapt smooth motion planning algorithms to this hybrid setting and present some instructive set of gaits.