Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage

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 techn...

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Bibliographic Details
Published in:arXiv.org 2022-09
Main Authors: Alexandre Anahory Simoes, López-Gordón, Asier, Bloch, Anthony, Colombo, Leonardo
Format: Article
Language:English
Subjects:
Dynamical systems
Integrators
Mathematical models
Mechanics (physics)
Optimal control
Slippage
Tracking problem
Online Access:Get full text
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Summary: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.
ISSN:2331-8422
DOI:10.48550/arxiv.2209.14255