Learning the Rolling Penny Dynamics

Code

• github.com/wangbaiyue007/learning-rolling-penny
  OfficialIn paperpytorch★ 1

Abstract

We consider learning the dynamics of a typical nonholonomic system -- the rolling penny. A nonholonomic system is a system subject to nonholonomic constraints. Unlike a holonomic constraints, a nonholonomic constraint does not define a submanifold on the configuration space. Therefore, the inverse problem of finding the constraints has to involve the tangent space. This paper discusses how to learn the dynamics, as well as the constraints for such a system, given the data set of discrete trajectories on the tangent bundle TQ.

Reproductions