Search for: [Abstract = "This geometric framework has also been applied to more unusual examples, such as the snakeboard robot, the wobblestone, and the reorientation of a falling cat. Using results from modern nonlinear control theory, we develop accessibility and controllability tests based on this reduced geometric structure. We also discuss parallels between these tests and the construction of open\-loop control algorithms, with analogies to the generation of locomotive gaits for robotic systems."]

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