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The International Journal of Robotics Research
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Optimal Gait Selection for Nonholonomic Locomotion Systems

James P. Ostrowski

Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 297 Towne Bldg., 220 S. 33rd St., Philadelphia, Pennsylvania 19104-6315 USAjpo{at}grip.cis.upenn.edu

Jaydev P. Desai

Vijay Kumar

Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 297 Towne Bldg., 220 S. 33rd St., Philadelphia, Pennsylvania 19104-6315 USA

This paper addresses the optimal control and selection of gaits in a class of nonholonomic locomotion systems that exhibit group symmetries. We study optimal gaits for the snakeboard, a representative example of this class of systems. We employ Lagrangian reduction techniques to simplify the optimal control problem and describe a general framework and an algorithm to obtain numerical solutions to this problem. This work employs optimal control techniques to study the optimality of gaits and issues involving gait transitions. The general framework provided in this paper can easily be applied to other examples of biological and robotic locomotion.

Key Words: optimal control • robotic locomotion • geo-metric mechanics • locomotive gaits

The International Journal of Robotics Research, Vol. 19, No. 3, 225-237 (2000)
DOI: 10.1177/02783640022066833
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This article has been cited by other articles:


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 The International Journal of Robotics ResearchHome page
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 The International Journal of Robotics ResearchHome page
E. A. Shammas, H. Choset, and A. A. Rizzi
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K. A. McIsaac and J. P. Ostrowski
A Framework for Steering Dynamic Robotic Locomotion Systems
The International Journal of Robotics Research, February 1, 2003; 22(2): 83 - 97.
[Abstract] [PDF]

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 The International Journal of Robotics ResearchHome page
J. Cortes, S. Martinez, J. P. Ostrowski, and K. A. McIsaac
Optimal Gaits for Dynamic Robotic Locomotion
The International Journal of Robotics Research, September 1, 2001; 20(9): 707 - 728.
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