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Such locomotion problems have a natural geometric inter pretation as a connection on a principal fiber bundle. The properties of connections lead to simplified results for studying both dynamics and issues of controllability for locomotion systems. We demonstrate the utility of this approach using a novel \"snakeboard\" and a mul tisegmented serpentine robot that is modeled after Hirose's active cord mechanism.<\/jats:p>","DOI":"10.1177\/027836499801700701","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"683-701","source":"Crossref","is-referenced-by-count":267,"title":["The Geometric Mechanics of Undulatory Robotic Locomotion"],"prefix":"10.1177","volume":"17","author":[{"given":"Jim","family":"Ostrowski","sequence":"first","affiliation":[{"name":"School of Engineering and Applied Science University of Pennsylvania Philadelphia, PA 19104-6315, USA jpo @ grip. cis. upenn. edu"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joel","family":"Burdick","sequence":"additional","affiliation":[{"name":"Division of Engineering and Applied Science California Institute of Technology Pasadena, CA 91125, USA jwb @ robby. caltech. edu"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[1998,7,1]]},"reference":[{"key":"atypb1","volume-title":"Foundations of Mechanics","author":"Abraham, R.","year":"1978","edition":"2"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1007\/BF02199365"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/9.173144"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1163\/156855395X00166"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(91)90008-P"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/9.173153"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/70.478426"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900207"},{"key":"atypb9","volume-title":"Control systems on manifolds with boundary","author":"Goodwine, B.","year":"1995"},{"key":"atypb10","series-title":"Biologically Inspired Robots: Snake-Like Locomotors and Manipulators","author":"Hirose, S.","year":"1993"},{"key":"atypb11","volume-title":"Titan III: A quadruped walking vehicle","author":"Hirose, S.","year":"1985"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900208"},{"key":"atypb13","first-page":"241","author":"Hirose, S.","year":"1976","journal-title":"Proc. 2nd Int. 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