Geometric Gait Optimization for Inertia-Dominated Systems with Nonzero Net Momentum
Yanhao Yang,Ross L. Hatton,Yanhao Yang,Ross L. Hatton
Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to utilize the existing nonzero net momentum (known as momentum gait). Therefore, finding the gait that most effectively utilizes the two types of locomotion in terms of the magnitude of the net momentum is a significant top...
