Enhancing Maneuverability via Gait Design
Siming Deng,Ross L. Hatton,Noah J. Cowan,Siming Deng,Ross L. Hatton,Noah J. Cowan
The gaits of locomoting systems are typically designed to maximize some sort of efficiency, such as cost of transport or speed. Equally important is the ability to modulate such a gait to effect turning maneuvers. For drag-dominated systems, geometric mechanics provides an elegant and practical framework for both ends—gait design and gait modulation. Within this framework, “constraint curvature” m...
