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In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...

In this paper, we investigate the kinematics and dynamics of floating, planar four-bar linkages. The geometry of configuration space is analyzed through the classical theory of mechanisms due to Grashof. The techniques of ...

This paper is concerned with the exploration of reduction and explicit solvability of optimal control problems on principal bundles with connections from a Hamiltonian point of view. The particular mechanical system we ...