STRUCTURE PRESERVING SIMULATION OF COMPASS GAIT AND MONOPEDAL JUMPING
STRUCTURE PRESERVING SIMULATION OF COMPASS GAIT AND MONOPEDAL JUMPING
复制标题
罗盘步态和单足跳跃的结构保持模拟
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
S. Leyendecker
中科院分区：
文献类型：
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作者：
M. Koch;S. Leyendecker
这项工作讨论了两种不同的结构保持机械积分器的最优控制模拟的框架。第一个是变分积分器，是基于约束版本的拉格朗日-达朗贝尔原理。由此产生的积分器保留的辛性和动量映射的模拟多体动力学。第二种是基于离散导数的能量动量格式。这两个积分器被用来模拟最优控制的两足步行者，这是在臀部驱动。最优控制问题的解决直接转录的方法，它将其转化为一个约束优化问题。第二个算例研究了带接触点的单跨杆的正向动力学问题，并采用辛动量法求解了相应的代数方程组。通过离散变分原理的推导包括接触时间和配置的变化。
This work discusses two different structure preserving mechanical integrators in the framework of optimal control simulations. The first one is a variational integrator and is based on a constrained version of the Lagrange-d'Alembert Principle. The resulting integrator preserves the symplecticity and momentum maps of the simulated multibody dynamics. The second one is an energy momentum scheme, which is based on a discrete derivative. Both integrators are used to simulate the optimal control a of bipedal walker, which is actuated in the hip. The optimal control problem is solved by a direct transcription method, which transforms it into a constrained optimisation problem. The second example studies the forward dynamics with contact of a monopedal jumper and the corresponding algebraic equations are solved by the aforementioned symplectic momentum method. The derivation via a discrete variational principle includes the variation of the contact time and configuration.
影响因子：
1.8
作者：
S. Leyendecker;S. Ober-Blöbaum;J. Marsden;Magdalena Ortiz
通讯作者：
S. Leyendecker;S. Ober-Blöbaum;J. Marsden;Magdalena Ortiz
DOI：
10.1007/978-3-642-36368-9_8
发表时间：
2013
期刊：
影响因子：
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作者：
S. Leyendecker;D. Pekarek;J. Marsden
通讯作者：
J. Marsden