15 citations · 68 across the 11 of their papers we have counts for
5 papers · 1 filter
Discrete Mechanics and Optimal Control for Passive Walking with Foot Slippage
Alexandre Anahory Simoes, Asier López-Gordón, Anthony Bloch +1
Forced variational integrators are given by the discretization of the Lagrange-d'Alembert principle for systems subject to external forces, and have proved useful for numerical sim…
Nonsmooth Herglotz variational principle
Asier López-Gordón, Leonardo Colombo, Manuel de León
In this paper, the theory of smooth action-dependent Lagrangian mechanics (also known as contact Lagrangians) is extended to a non-smooth context appropriate for collision problems…
Hamilton-Jacobi theory and integrability for autonomous and non-autonomous contact systems
Manuel de León, Manuel Lainz, Asier López-Gordón +1
In this paper, we study the integrability of contact Hamiltonian systems, both time-dependent and independent. In order to do so, we construct a Hamilton--Jacobi theory for these s…
Contact Lagrangian systems subject to impulsive constraints
Leonardo J. Colombo, Manuel de León, Asier López-Gordón
We describe geometrically contact Lagrangian systems under impulsive forces and constraints, as well as instantaneous nonholonomic constraints which are not uniform along the confi…
Hybrid Routhian reduction for simple hybrid forced Lagrangian systems
María Emma Eyrea Irazú, Asier López-Gordón, Leonardo J. Colombo +1
This paper discusses Routh reduction for simple hybrid forced mechanical systems. We give general conditions on whether it is possible to perform symmetry reduction for a simple hy…