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- W2796249518 abstract "The Chaplygin sleigh is a classic example of a nonholonomically constrained mechanical system. The sleigh's motion always converges to a straight line whose slope is entirely determined by the initial configuration and velocity of the sleigh. We consider the motion of a modified Chaplygin sleigh that contains a passive internal rotor. We show that the presence of even a rotor with small inertia modifies motion of the sleigh dramatically. A generic trajectory of the sleigh in a reduced velocity space exhibits two distinct transient phases before converging to a chaotic attractor. We demonstrate this through numerics. In recent work the dynamics of the Chaplygin sleigh have also been shown to be similar to that of a fish like body in an inviscid fluid. The influence of a passive degree of freedom on the motion of the Chaplygin sleigh points to several possible applications in controlling the motion of the nonholonomically constrained terrestrial and aquatic robots." @default.
- W2796249518 created "2018-04-13" @default.
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- W2796249518 date "2018-04-05" @default.
- W2796249518 modified "2023-09-27" @default.
- W2796249518 title "Chaotic Dynamics of the Chaplygin sleigh with a passive internal rotor." @default.
- W2796249518 hasPublicationYear "2018" @default.
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