The Helmholtz-Hodge Decomposition (HHD) describes the decomposition of a flow field into
its divergence-free and curl-free components. Many researchers in various communities like …

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 …

Several efforts have recently been made to relate the displacement of swimming three-link
systems over strokes to geometric quantities of the strokes. In doing so, they provide …

Geometric mechanics techniques based on Lie brackets provide high-level
characterizations of the motion capabilities of locomoting systems. In particular, they relate …

In this paper, we present a geometric variational algorithm for optimizing the gaits of
kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics …

We propose control of a snake robot that can switch lifting parts dynamically according to
kinematics. Snakes lift parts of their body and dynamically switch lifting parts during …

In this paper, a novel guided motion planning method is proposed for snake-like robots,
which decomposes the configuration space into the fiber space and the gait space, with the …

In this paper we identify optimal swimming strategies for drag-dominated swimmers with a
passive elastic joint. We use resistive force theory to obtain the dynamics of the system. We …

In this paper, the motion planning problem for planar snake-like robots with more than three
links that is subjected to nonholonomic constraints is solved explicitly. In other words, for a …

Locomotion for many articulated mechanical systems and animals is achieved through cyclic
changes in shapes called gaits. In this paper we extend the geometric variational algorithm …