The locomotion of articulated mechanical systems is often complex and unintuitive, even
when considered with the aid of reduction principles from geometric mechanics. In this …

In this paper we generate gaits for two types of underactuated mechanical systems:
principally kinematic and purely mechanical systems. Our goal is to specify inputs in the form …

In this paper, we build off results from geometric mechanics to gain fresh insight into the
locomotion of underactuated systems. More specifically, we use the connection, which …

Gait evaluation techniques that use Stokes's theorem to integrate a system's equations of
motion have traditionally been limited to finding only the net rotations or small translations …

At first glance, a floating-base robotic system is a kinematic chain, and its equations of
motion are described by the inertia-coupled dynamics of its shape and movable base …

In this paper, we present a technique for approximating the net displacement of a locomoting
system over a gait without directly integrating its equations of motion. The approximation is …

For mechanical systems, it is straight forward to compute the dynamic equations of motion
which govern the evolution of the systems' configuration variables as the system is subjected …

In this paper, a motion planning algorithm for floating planar under-actuated hyper-
redundant snake robots is proposed. The presented algorithm generates locally optimal …

This paper introduces shape-accelerated balancing systems as a special class of
underactuated systems wherein their shape configurations can be mapped to the …

This article deals with using of geometric mechanics at modeling mixed mechanical
locomotion systems. In introductory part, the division of locomotion systems and reduced …