Nonholonomic systems provide an important class of mechanical control systems. One
reason for this importance is that nonintegrability is essential to both the mechanics and the …

This booklet studies the geometry of the reduction of Lagrangian systems with symmetry in a
way that allows the reduction process to be repeated; that is, it develops a context for …

This article presents the Origaker, a novel multi-mimicry quadruped robot. Based on a single-
loop spatial metamorphic mechanism, the Origaker is able to transform between different …

This paper presents a variational and multisymplectic formulation of both compressible and
incompressible models of continuum mechanics on general Riemannian manifolds. A …

This paper outlines some features of general reduction theory as well as the geometry of
nonholonomic mechanical systems. In addition to this survey nature, there are some new …

We propose a geometric setting for the Hamiltonian description of mechanical systems with
a nonholonomic constraint, which may be used for constraints of general type (nonlinear in …

The principle of least action originates in the idea that, if nature has a purpose, it should
follow a minimum or critical path. This simple principle, and its variants and generalizations …

Presented herein are a class of methodologies for conducting constrained motion analysis
of rigid bodies within the Udwadia-Kalaba (UK) formulation. The UK formulation, primarily …

The d'Alembert–Lagrange principle (DLP) is designed primarily for dynamical systems
under ideal geometric constraints. Although it can also cover linear-velocity constraints, its …

Problems in engineering, computational science, and the physical and biological sciences
are using increasingly sophisticated mathematical techniques. Thus, the bridge between the …