Abstract
Walking, running or jumping are special cases of articulated motions which rely heavily on contact forces for their accomplishment. This central role of the contact forces is widely recognized now, but it is rarely connected to the structure of the dynamics of articulated motion. Indeed, this dynamics is generally considered as a complex nonlinear black-box without any specific structure, or its structure is only partly uncovered. We propose here to precise this structure and show in details how it shapes the movements that an articulated system might realize. Some propositions are made then to improve the design of control laws for walking, running, jumping or free-floating motions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer
About this chapter
Cite this chapter
Wieber, PB. (2006). Holonomy and Nonholonomy in the Dynamics of Articulated Motion. In: Diehl, M., Mombaur, K. (eds) Fast Motions in Biomechanics and Robotics. Lecture Notes in Control and Information Sciences, vol 340. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-36119-0_20
Download citation
DOI: https://doi.org/10.1007/978-3-540-36119-0_20
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-36118-3
Online ISBN: 978-3-540-36119-0
eBook Packages: EngineeringEngineering (R0)