2 papers
cs.RO2026
Sub--Riemannian boundary value problems for Optimal Geometric Locomotion
Oliver Gross, Florine Hartwig, Martin Rumpf +1
We propose a geometric model for optimal shape-change-induced motions of slender locomotors, e.g., snakes slithering on sand. In these scenarios, the motion of a body in world coor…
cs.RO2024
A variational approach to geometric mechanics for undulating robotic locomotion
Sean Even, Patrick S. Martinez, Cora Keogh +3
Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to f…