The article by Luc Jaulin, published by Lab-Sticc, ENSTA-Bretagne, presents a Lagrangian approach to determine the state equations of a disk rolling on a plane without friction. The paper leverages symbolic computation, specifically the Sympy package of Python, to derive these state equations. The method has been applied to model robots and can be extended to more general wheel-based vehicles. The author provides detailed mathematical explanations and Python code snippets to illustrate the process.
Publication date: 28 Nov 2023
Project Page: https://arxiv.org/abs/2311.16624
Paper: https://arxiv.org/pdf/2311.16624
