Nonholonomic Systems With Redundant Degrees of Freedom Can Exploit Nonlinear Frequency Response to Improve Speed and Efficiency of Locomotion
Nonholonomic Systems With Redundant Degrees of Freedom Can Exploit Nonlinear Frequency Response to Improve Speed and Efficiency of Locomotion
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具有冗余自由度的非完整系统可以利用非线性频率响应来提高运动速度和效率
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发表时间：
2020
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通讯作者：
Phanindra Tallapragada
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作者：
Vitaliy Fedonyuk;Colin Rodwell;Phanindra Tallapragada
刚体非完整系统作为几种陆生动物，如蛇的运动以及鱼类的游泳运动的模型。几个著名的非完整系统也发现了应用领域的移动的机器人在一切从轮式车辆关节蛇形机器人。然而，其动态的一个方面仍然没有得到探索。这与通过增加额外的“段”（例如在链中）来增加自由度的效果有关，其中段之间的接头具有非零的扭转刚度。这样的非完整系统在受到周期性激励或输入时，会有额外的振荡模式。非完整约束、线弹性势和附加自由度的相互作用可以在系统的动力学中产生丰富的频率-振幅响应，并且可以导致显著更高的速度和效率。在本文中，我们探讨这样的动力学与一个著名的非完整系统，Chaubergin雪橇和它的一个变种，与一个额外的自由度的例子。这样的模型可以预期，以更好地匹配生物游泳者的动力学，并有广泛的应用软和欠驱动机器人。
Rigid body nonholonomic systems serve as models for locomotion of several terrestrial animals such as snakes as well as for fish-like swimming motion. Several well known nonholonomic systems have also found applications in the field of mobile robotics in everything from wheeled vehicles to articulated snake like robots. However, one aspect of their dynamics has remained unexplored. This is to do with the effects of increasing the degrees of freedom by adding additional ‘segments’ such as in a chain, with the joints between segments having a nonzero torsional stiffness. Such nonholonomic systems when subjected to periodic actuation or inputs have additional modes of oscillation. The interplay of the nonholonomic constraints, linear elastic potentials and additional degrees of freedom can produce rich frequency-amplitude response in the dynamics of the system and can lead to significantly higher speed and efficiency. In this paper we explore such dynamics with the example of a well known nonholonomic system, the Chaplygin sleigh and a variant of it with an additional degree of freedom. Such models can be expected to better match the dynamics of biological swimmers and have widespread applications for soft and under-actuated robots.