通过虚拟非完整约束实现单摆的能量调控，模拟体操大回环动作
From gymnastics to virtual nonholonomic constraints: energy injection, dissipation, and regulation for the acrobot
- 设计可调节能量的虚拟非完整约束，控制机械臂运动轨迹
- 参数正负决定能量注入或耗散，实验验证有效调节能量
- 适用于需精准能量控制的机器人系统，如复杂运动模仿
本文研究虚拟非完整约束——一种可通过反馈控制施加于机械系统的广义坐标与动量之间的关系。设计了一种模拟体操大回环运动的约束，证明该约束可根据设计参数的正负性实现能量注入或耗散。所提方法在仿真与真实世界中的单摆（acrobot）平台上均进行了测试，展现出优异的能量调节性能及对多种扰动的鲁棒性。
原文摘要 · Abstract (English)
In this article we study virtual nonholonomic constraints, which are relations between the generalized coordinates and momenta of a mechanical system that can be enforced via feedback control. We design a constraint which emulates gymnastics giant motion in an acrobot, and prove that this constraint can inject or dissipate energy based on the sign of a design parameter. The proposed constraint is tested both in simulation and experimentally on a real-world acrobot, demonstrating highly effective energy regulation properties and robustness to a variety of disturbances.
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