论文标题
离散的力学和最佳控制，用于用脚打滑的被动步行
Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage
论文作者
论文摘要
强制变分集成剂是通过对受外部力的系统的Lagrange-d'Alembt原理的离散化来给出的，并证明对复杂动力学系统的数值模拟研究有用。在本文中，我们使用几何力学技术对一个被动步行者进行了脚踏板的模型，并为系统构建了强制变异积分器。此外，我们提出了一种基于离散力学的简单混合构成强制性的Lagrangian系统，用于生成（本地）最佳控制策略的方法，该方法应用于轨迹跟踪问题中的脚部滑移的受控步行者。
Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical simulation studies of complex dynamical systems. In this paper we model a passive walker with foot slip by using techniques of geometric mechanics, and we construct forced variational integrators for the system. Moreover, we present a methodology for generating (locally) optimal control policies for simple hybrid holonomically constrained forced Lagrangian systems, based on discrete mechanics, applied to a controlled walker with foot slip in a trajectory tracking problem.
