English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

A key problem in robotic locomotion is in finding optimal shape changes toeffectively displace systems through the world. Variational techniques for gaitoptimization require estimates of body displacement per gait cycle; however,these estimates introduce error due to unincluded high order terms. In thispaper, we formulate existing estimates for displacement, and describe thecontribution of low order terms to these estimates. We additionally describethe magnitude of higher (third) order effects, and identify that choice of bodycoordinate, gait diameter, and starting phase influence these effects. Wedemonstrate that variation of such parameters on two example systems (thedifferential drive car and Purcell swimmer) effectively manages third ordercontributions.

Characterizing Error in Noncommutative Geometric Gait Analysis