Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator

Description

This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and differential geometry, we derive a general dynamic model that incorporates second-order dynamics and nonholonomic constraints, applicable to kinodynamic systems such as wheeled robots with nonholonomic constraints as well as swimming robots with nonisotropic fluid-added inertia and hydrodynamic drag. Building on Lie gr

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