Holonomic Constraint

Holonomic constraints represent limitations on the possible configurations of a system, restricting its movement to a specific subspace of its configuration space. Current research focuses on developing efficient algorithms and models, such as graph-discretization methods and Lagrangian dynamics approaches, to handle these constraints in diverse applications, including robotics and multi-agent systems. This work is crucial for advancing the control and planning of complex systems, particularly in robotics where accurate modeling of physical limitations is essential for safe and effective operation. The development of robust and computationally efficient methods for incorporating holonomic constraints is driving progress in areas like autonomous navigation, collaborative manipulation, and legged locomotion.