The DOI matches its Crossref record; 21 of the 21 references it cites were found in a registry or an index.
The Geometric Mechanics of Undulatory Robotic Locomotion
Abstract
This paper uses geometric methods to study basic problems in the mechanics and control of locomotion. We consider in detail the case of "undulatory locomotion" in which net motion is generated by coupling internal shape changes with external nonholonomic con straints. Such locomotion problems have a natural geometric inter pretation as a connection on a principal fiber bundle. The properties of connections lead to simplified results for studying both dynamics and issues of controllability for locomotion systems. We demonstrate the utility of this approach using a novel "snakeboard" and a mul tisegmented serpentine robot that is modeled after Hirose's active cord mechanism.
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Cites
Isidori, A. (1989) · Springer eBooks · doi:10.1007/978-3-662-02581-9 · Cited by 7,869
A Mathematical Introduction to Robotic Manipulation
Murray, R. M., Li, Z., & Sastry, S. S. (2017) · CRC Press eBooks · doi:10.1201/9781315136370 · Cited by 6,694
McGeer, T. (1990) · The International Journal of Robotics Research · doi:10.1177/027836499000900206 · Cited by 3,359
Introduction to Mechanics and Symmetry: A Basic Exposition of Classical Mechanical Systems
Marsden, J. E., & Ratiu, T. S. (1999) · Texts in Applied Mathematics · doi:10.1007/978-0-387-21792-5 · Cited by 2,961
Raibert, M. H., & Tello, E. R. (1986) · IEEE Expert · doi:10.1109/mex.1986.4307016 · Cited by 2,725
A Mathmematical Introduction to Robotic Manipulation
Murray, R. M., Li, Z., & Sastry, S. (1994) · Cited by 2,676
Nonlinear Control Systems: An Introduction
(1985) · Lecture Notes in Control and Information Sciences · doi:10.1007/bfb0006368 · Cited by 1,852
Nonholonomic motion planning: steering using sinusoids
Murray, R. M., & Sastry, S. S. (1993) · IEEE Transactions on Automatic Control · doi:10.1109/9.277235 · Cited by 1,771
Biologically inspired robots: snake-like locomotors and manipulators
(1994) · Choice Reviews Online · doi:10.5860/choice.32-0954 · Cited by 819
Control and stabilization of nonholonomic dynamic systems
Bloch, A. M., Reyhanoglu, M., & McClamroch, N. H. (1992) · IEEE Transactions on Automatic Control · doi:10.1109/9.173144 · Cited by 808
Cited by
Deep reinforcement learning enabling a BCFbot to learn various undulatory patterns
Hameed, I., Chao, X., Navarro-Alarcon, D., & Jing, X. (2025) · Ocean Engineering · doi:10.1016/j.oceaneng.2025.120322 · Cited by 5
Metadata
- Authors
- Ostrowski, J., & Burdick, J.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1998-07
- Volume
- 17
- Issue
- 7
- Pages
- 683-701
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2144026911
- Cited by
- 334
- References
- 21
- FWCI
- 4.34
- Type
- journal article
- Language
- en
- Open access
- closed
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- Ostrowski, J., & Burdick, J. (1998). The Geometric Mechanics of Undulatory Robotic Locomotion. The International Journal of Robotics Research. https://doi.org/10.1177/027836499801700701
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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