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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.<\/jats:p>","DOI":"10.1177\/02783640022066833","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"225-237","source":"Crossref","is-referenced-by-count":84,"title":["Optimal Gait Selection for Nonholonomic Locomotion Systems"],"prefix":"10.1177","volume":"19","author":[{"given":"James P.","family":"Ostrowski","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering and Applied Mechanics, University of                         Pennsylvania, 297 Towne Bldg., 220 S. 33rd St., Philadelphia, Pennsylvania                         19104-6315 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jaydev P.","family":"Desai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Applied Mechanics, University of                         Pennsylvania, 297 Towne Bldg., 220 S. 33rd St., Philadelphia, Pennsylvania                         19104-6315 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,3,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300205"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1152\/physrev.1989.69.4.1199"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1007\/BF00933518"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(92)90034-D"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1007\/BF02199365"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/9.173144"},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"Brockett, R. 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