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The authors study near-optimal gaits for an underwater eel-like robot, although the tools and analysis can be applied more broadly to a large family of nonlinear control systems with drift. The approximate solutions to the optimal control problem are found using a truncated basis of cyclic input functions. This generates feasible paths that approach the optimal one as the number of basis functions is increased. The authors describe an algorithm to obtain numerical solutions to this problem and present simulation results that demonstrate the types of solutions that can be achieved. Comparisons are made with experimental data using the REEL II robot platform.<\/jats:p>","DOI":"10.1177\/02783640122067624","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T01:53:44Z","timestamp":1058579624000},"page":"707-728","source":"Crossref","is-referenced-by-count":40,"title":["Optimal Gaits for Dynamic Robotic Locomotion"],"prefix":"10.1177","volume":"20","author":[{"given":"Jorge","family":"Cort\u00e9s","sequence":"first","affiliation":[{"name":"Laboratory of Dynamical Systems, Mechanics, and Control, Instituto de                         Matem\u00e1ticas y F\u00edsica Fundamental, Consejo Superior de                         Investigaciones Cientificas, Madrid 28006, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sonia","family":"Mart\u00ednez","sequence":"additional","affiliation":[{"name":"Laboratory of Dynamical Systems, Mechanics, and Control, Instituto de                         Matem\u00e1ticas y F\u00edsica Fundamental, Consejo Superior de                         Investigaciones Cientificas, Madrid 28006, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James P.","family":"Ostrowski","sequence":"additional","affiliation":[{"name":"General Robotics, Automation, Sensing and, Perception Laboratory,                         University of Pennsylvania, Philadelphia, PA 19104-6228, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kenneth A.","family":"McIsaac","sequence":"additional","affiliation":[{"name":"General Robotics, Automation, Sensing and, Perception Laboratory,                         University of Pennsylvania, Philadelphia, PA 19104-6228, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2001,9,1]]},"reference":[{"key":"atypb1","unstructured":"Abraham, R., and Marsden, J. 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