Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics

Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration varia...

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Veröffentlicht in:	IEEE transactions on robotics 2024-01, Vol.40, p.1-13
Hauptverfasser:	Pustina, Pietro, Santina, Cosimo Della, Boyer, Frederic, De Luca, Alessandro, Renda, Federico
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators and Learning for Soft Robots Computer Science Configurations Control Coordinate transformations Decoupling Dynamical systems Dynamics Mechanical systems Modeling Motion Control Operations Research Questions Representations Robot kinematics Robotics Robots Soft robotics Sufficient conditions Symmetric matrices Underactuated Robots Vectors
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