{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:58:48Z","timestamp":1777715928969,"version":"3.51.4"},"reference-count":34,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2003,2,1]],"date-time":"2003-02-01T00:00:00Z","timestamp":1044057600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2003,2]]},"abstract":"<jats:p>We seek to formulate control and motion planning algorithms for a class of dynamic robotic locomotion systems. We consider mechanical systems that involve some type of interaction with the environment and have dynamics that possess rotational and translational symmetries. Research in non-holonomic systems and geometric mechanics has led to a single, simplified framework that describes this class of systems. In this paper, we explore a hybrid systems approach to generating motion plans for systems of this type. We perform a dynamic analysis of the system to find a small set of periodic control inputs for momentum generation in desired directions. We then find a simplified, kinematic model which captures the fundamental nature of the locomotion system and we use this abstract model for motion planning. This approach is inherently modular, since broad classes of locomotion systems can be described by the same kinematic approximation. In this paper, we describe the application of such an approach to two examples: the snakeboard robot and an eel-like, underwater robot.<\/jats:p>","DOI":"10.1177\/0278364903022002001","type":"journal-article","created":{"date-parts":[[2003,7,10]],"date-time":"2003-07-10T22:56:46Z","timestamp":1057877806000},"page":"83-97","source":"Crossref","is-referenced-by-count":29,"title":["A Framework for Steering Dynamic Robotic Locomotion Systems"],"prefix":"10.1177","volume":"22","author":[{"given":"Kenneth A.","family":"McIsaac","sequence":"first","affiliation":[{"name":"Department of Elec. and Comp. Eng. University of Western Ontario London,                        Ontario, Canada N6G 1H1"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James P.","family":"Ostrowski","sequence":"additional","affiliation":[{"name":"General Robotics Automation, Sensing and Perception (GRASP) Laboratory                        University of Pennsylvania 3401 Walnut Street Philadelphia, PA 19104-6228"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2003,2,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Arai, H. 1996. Controllability of a 3-dof manipulator with a passive joint under a nonholonomic constraint . In Proc. IEEE Int. Conf. Robotics and Automation, pp. 3707-3713 .","DOI":"10.1109\/ROBOT.1996.509278"},{"key":"atypb2","unstructured":"Balkcom, D. J. and Mason, M. T. 2000. Extremal trajectories for bounded velocity differential drive robots . In Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA."},{"key":"atypb3","unstructured":"Blake, R. W. 1983. Fish Locomotion. Cambridge University Press, New York ."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/BF02199365"},{"key":"atypb5","unstructured":"Bullo, F. and Lewis, A. D. June 1996. Configuration controllability for mechanical systems on Lie groups . In Symposium on Mathematical Theory of Networks and Systems, St. Louis, IL."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/9.871753"},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"Cortes, J., Martinez, S., Ostrowski, J. P., and McIsaac, K. A. 2000. Optimal gaits for dynamic robotic locomotion . International Journal for Robotics Research 20(9): 707-728 .","DOI":"10.1177\/02783640122067624"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.2307\/2372560"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1007\/BF01185408"},{"key":"atypb10","doi-asserted-by":"crossref","unstructured":"Goodwine, B. and Burdick, J. W. April 1997. Trajectory generation for kinematic legged robots . In Proc. IEEE Int. Conf. Robotics and Automation, Albuquerque, NM. pp. 2689-2696 .","DOI":"10.1109\/ROBOT.1997.619367"},{"key":"atypb11","doi-asserted-by":"crossref","unstructured":"Hartog, J. D. 1931. Forced vibrations with combined Coulomb and viscous friction. Transactions of the American Society of Mechanical Engineers, APM-53-9.","DOI":"10.1115\/1.4022656"},{"key":"atypb12","unstructured":"Hirose, S. 1993. Biologically Inspired Robots: Snake-like Locomotors and Manipulators. Oxford University Press, Oxford . Translated by Peter Cave and Charles Goulden."},{"key":"atypb13","unstructured":"Khalil, H. 1992. Nonlinear Systems. Macmillan, London ."},{"key":"atypb14","doi-asserted-by":"crossref","unstructured":"Krishnaprasad, P. S. and Tsakiris, D. P. December 1994. G-snakes: Nonholonomic kinematic chains on Lie groups . In Proc. 33rd IEEE Conf. on Decision and Control, Lake Buena Vista, FL. pp. 2955-2960 .","DOI":"10.1109\/CDC.1994.411343"},{"key":"atypb15","doi-asserted-by":"crossref","unstructured":"Krishnaprasad, P. S. and Tsakiris, D. P. December 1995. Oscillations, SE(2)-snakes and motion control . In IEEE Conf. Decision and Control, New Orleans, LA. pp. 2806-2811 .","DOI":"10.1109\/CDC.1995.478543"},{"key":"atypb16","unstructured":"Kumar, V. R. and Waldron, K. J. 1989. A review of research on walking vehicles. In O. Khatib, J. J. Craig, and T. Lozano-Perez, editors, The Robotics Review 1, MIT Press, Cambridge, MA . pp. 243-266."},{"key":"atypb17","doi-asserted-by":"crossref","unstructured":"Latombe, J.C. 1991. Robot Motion Planning. Kluwer, Boston .","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922067753"},{"key":"atypb19","unstructured":"Leonard, N. E. December 1995. Periodic forcing, dynamics and control of underactuated spacecraft and underwater vehicles . In Proc. IEEE Conf. Decision and Control, New Orleans, LA. pp. 1131-1136 ."},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1109\/9.412625"},{"key":"atypb21","unstructured":"Lewis, A. D. 1999. When is a mechanical control system kinematic? In Proc. IEEE Conf. on Decision and Control, December 2000. To appear."},{"key":"atypb22","doi-asserted-by":"crossref","unstructured":"Li, Z. and Canny, J. F., editors. 1993. Nonholonomic Motion Planning. Kluwer, Dordrecht .","DOI":"10.1007\/978-1-4615-3176-0"},{"key":"atypb23","unstructured":"McIsaac, K. A. 2001.\n                      A Hierarchical Approach to Motion Planning with Applications to an Underwater, Eel-like Robot.\n                      Ph.D. thesis, University of Pennsylvania, Philadelphia, PA."},{"key":"atypb24","doi-asserted-by":"crossref","unstructured":"McIsaac, K. A. and Ostrowski, J. P. 2001. Open-loop verification of motion planning for an underwater eel-like robot . To appear in International Journal of Robotics Research.","DOI":"10.1177\/027836402128964107"},{"key":"atypb25","doi-asserted-by":"crossref","unstructured":"McIsaac, K. A. and Ostrowski, J. P. 2003. Motion planning for anguilliform locomotion. To appear in IEEE Transactions on Robotics and Automation.","DOI":"10.1109\/TRA.2003.814495"},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1109\/9.277235"},{"key":"atypb27","unstructured":"Ostrowski, J. P. 1995.\n                      The Mechanics and Control of Undulatory Robotic Locomotion.\n                      Ph.D. thesis, California Institute of Technology, Pasadena, CA. Available electronically at http:\/\/www.cis.upenn.edu\/\u223cjpo\/papers.html."},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1109\/9.871757"},{"key":"atypb29","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700701"},{"key":"atypb30","doi-asserted-by":"crossref","unstructured":"Ostrowski, J. P. and McIsaac, K. A. March 2000. A framework for steering dynamic robotic locomotion systems . In B. Donald, K. Lynch, and D. Rus, editors, Workshop on Algorithmic Foundations of Robotics (WAFR 2000), Hanover, New Hampshire. pp. 221-231 .","DOI":"10.1201\/9781439864135-31"},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022066833"},{"key":"atypb32","doi-asserted-by":"crossref","unstructured":"Ostrowski, J. P., Lewis, A. D., Murray, R. M., and Burdick, J. W. May 1994. Nonholonomic mechanics and locomotion: The snakeboard example . In Proc. IEEE Int. Conf. Robotics and Automation, San Diego, CA. pp. 2391-2397 .","DOI":"10.1109\/ROBOT.1994.351153"},{"key":"atypb33","unstructured":"Radford, J. and Burdick, J. 1998. Local motion planning for nonholonomic control systems evolving on principal bundles . Submitted to Conf. Mathematical Theory of Networks and Systems."},{"key":"atypb34","doi-asserted-by":"crossref","unstructured":"Videlos, J. J. 1993. Fish Swimming. Chapman and Hall, New York .","DOI":"10.1007\/978-94-011-1580-3"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364903022002001","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364903022002001","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:54Z","timestamp":1777457814000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364903022002001"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2003,2]]},"references-count":34,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2003,2]]}},"alternative-id":["10.1177\/0278364903022002001"],"URL":"https:\/\/doi.org\/10.1177\/0278364903022002001","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2003,2]]}}}