Optimal Control of Multibody Systems in Resistive Media
Locomotion of a mechanical system consisting of a main body and one or two links attached to it by cylindrical joints is considered. The system moves in a resistive medium and is controlled by periodic angular oscillations of the links relative to the main body. The resistance force acting upon each body is a quadratic function of its velocity. Under certain assumptions, a nonlinear equation of motion is derived and simplified. The optimal control of oscillations is found that corresponds to the maximal average locomotion speed.
Keywordsoptimal control nonlinear dynamics robotics locomotion
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