The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss-Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.
六足机器人RHex(Hexapod Robot)在平坦的地形上具有良好的运动性能,但在崎岖的地形上运动时,可能会被困住而无法运动。利用机器人腿的摆动可以克服和摆脱这种困境。为此,将六足机器人模型简化为RRRobot(Rocking and Rolling Robot)模型,在系统角动量为零的情况下,动力学方程降阶为非完整形式运动学方程。系统的运动控制问题可转化为无漂移系统的非完整运动规划问题。通过对腿的摆动设计从而使机器人本体达到转动的期望位置。数值仿真结果表明该运动规划对转动模型机器人是有效的。
