Discrete and Hybrid Nonholonomy


In this paper we consider the generalization of the classical notion of nonholonomy of smooth constraints in analytical mechanics, to a substantially wider set of systems, allowing for discrete and hybrid (mixed continuous and discrete) configurations and transitions. We show that the general notion of nonholonomy can be captured by the definition of two… (More)
DOI: 10.1007/978-3-540-24743-2_11


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@inproceedings{Bicchi2004DiscreteAH, title={Discrete and Hybrid Nonholonomy}, author={Antonio Bicchi and Alessia Marigo and Benedetto Piccoli}, booktitle={HSCC}, year={2004} }