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KIAM Preprint  46, Moscow, 2012
Authors: Borovin G. K., Lapshin V.V.
Optimal control of a two joint bodies
Motion of two joint bodies during the flight phase is investigated. The problem of minimization and maximization of the time necessary for their rotation from initial to final position has been solved. Non zero angular momentum of the system relative to the center of mass assumed. It is the simplest model of hopping vehicle motion control in the supportless phase of hopping.
motion optimal control, legged vehicle
Publication language: russian,  pages: 24
Research direction:
Theoretical and applied problems of mechanics
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About authors:
  • Borovin Gennady Konstantinovich, RAS
  • Lapshin V.V.