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The geometric structure of nonholonomic mechanics

Koon, Wang Sang and Marsden, Jerrold E. (1997) The geometric structure of nonholonomic mechanics. In: Proceedings of the 36th IEEE Conference on Decision and Control : December 10-12, 1997, Hyatt Regency San Diego, San Diego, CA, USA. Vol.5. IEEE , Piscataway, NJ, pp. 4856-4861. ISBN 9780780341876.

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Many important problems in multibody dynamics, the dynamics of wheeled vehicles and motion generation, involve nonholonomic mechanics. Many of these systems have symmetry, such as the group of Euclidean motions in the plane or in space and this symmetry plays an important role in the theory. Despite considerable advances on both Hamiltonian and Lagrangian sides of the theory, there remains much to do. We report on progress on two of these fronts. The first is a Poisson description of the equations that is equivalent to those given by Lagrangian reduction, and second, a deeper understanding of holonomy for such systems. These results promise to lead to further progress on the stability issues and on locomotion generation

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Deposited On:14 Jul 2005
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