. .. , 2011, 4 (2), . 67-68
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2011 . .. , ..
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bolotnik@ipmnet.ru
16.05.2011
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, 11-01-00513.

1. .., .. // . 2008. . 72. . 2. . 216229.
OPTIMAL CONTROL OF LOCOMOTION SYSTEMS WITH MOVABLE INTERNAL BODIES
N.N. Bolotnik, T.Yu. Figurina
Locomotion systems that consist of a main body and internal bodies are considered. The main body interacts with a resistive external environment; the internal bodies interact with the main body but do not interact with the environment. F or such systems, optimal periodic motions of the internal bodies are constructed to provide a velocity-periodic motion of the main body with a maximum displacement for the period.
Keywords: locomotion systems, mobile robots, periodic motion, vibration-driven motion, optimal control.