体操から仮想非ホロノミック拘束へ：アクロボットのエネルギー注入・散逸・調整
From gymnastics to virtual nonholonomic constraints: energy injection, dissipation, and regulation for the acrobot
アクロボットに体操の大車輪運動を模倣させる仮想非ホロノミック拘束を設計し、設計パラメータの符号でエネルギー注入・散逸を制御できることを示し、シミュレーションと実機で検証した。
著者: Adan Moran-MacDonald, Manfredi Maggiore, Xingbo Wang
分類: cs.RO, math.OC
原文アブストラクト
In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedback control. We design a constraint which emulates gymnastics giant motion in an acrobot, and prove that this constraint can inject or dissipate energy based on the sign of a design parameter. The proposed constraint is tested both in simulation and experimentally on a real-world acrobot, demonstrating highly effective energy regulation properties and robustness to a variety of disturbances.