论文标题
我们怎么走？使用杂种载体来近似非全面系统
How do we walk? Using hybrid holonomy to approximate non-holonomic systems
论文作者
论文摘要
我们走路时为什么要前进？我们的腿会发生周期性运动，因此没有净变化的位置；但是，我们的身体确实具有净落的位置变化，并且我们被推进了前进。从几何学角度来看，这种周期性输入的现象产生了非周期性输出。为了获得非零的载体和向前推进，我们必须交替交替与地面接触的腿；可以通过将不会单独产生净运动的弧线串联来获得非零的净运动。我们开发了一个计算混合系统的自动群体组的框架，并随着影响的数量涉及无穷大。
Why do we move forward when we walk? Our legs undergo periodic motion and thus possess no net change in position; however, our bodies do possess a net change in position and we are propelled forward. From a geometric perspective, this phenomenon of periodic input producing non-periodic output is holonomy. To obtain non-zero holonomy and propel forward, we must alternate which leg is in contact with the ground; a non-zero net motion can be obtained by concatenating arcs that would individually produce no net motion. We develop a framework for computing the holonomy group of hybrid systems and analyze their behavior in the limit as the number of impacts goes to infinity.
