Periodic motion planning and control for double rotary pendulum via virtual holonomic constraints
IEEE/CAA Journal of Automatica Sinica(2019)
Abstract
Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also...
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Key words
Planning,Optimization,Trajectory,Mathematical model,Dynamics,Legged locomotion,Mechanical systems
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