Meaningful Centroidal Frame Orientation of Multi-body Floating Locomotion Systems

Du, Wenqian; Wang, Ze; Moullet, Etienne; Benamar, Faiz

doi:10.1109/icra48506.2021.9560918

Cited by 4 publications

(1 citation statement)

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“…This should motivate further research into their use for deriving formulations with improved efficiency. A problem that is increasingly receiving attention is that the average velocity cannot be used for kinematic reconstruction [66,70,72,87,88]. This could, for instance, be addressed by means of holonomy minimizing gauge transformations, i.e.…”

Section: Discussionmentioning

confidence: 99%

Hamel’s equations and geometric mechanics of constrained and floating multibody and space systems

Müller

2023

Proc. R. Soc. A.

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Modern geometric approaches to analytical mechanics rest on a bundle structure of the configuration space. The connection on this bundle allows for an intrinsic splitting of the reduced Euler–Lagrange equations. Hamel’s equations, on the other hand, provide a universal approach to non-holonomic mechanics in local coordinates. The link between Hamel’s formulation and geometric approaches in local coordinates has not been discussed sufficiently. The reduced Euler–Lagrange equations as well as the curvature of the connection are derived with Hamel’s original formalism. Intrinsic splitting into Euler–Lagrange and Euler–Poincaré equations and inertial decoupling is achieved by means of the locked velocity. Various aspects of this method are discussed.

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