Abstract
Efficient simulation of articulated structures is needed in biomechanical engineering, human animation, virtual reality, and robotics. A conceptual framework for control design in constrained and unconstrained motion tasks is developed. In the first case, decentralized sliding-mode controllers with maximum degree of robustness can be designed. In the other case, simple but consistent with Pontryagin's Maximum principle test functions are employed whose parameters are determined through a fast converging shooting procedure. Besides the analytical guarantees, we verify the efficiency of our approach in dynamic simulation of standing-tip motion where both open-loop and closed-loop controllers are implemented.
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