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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 recent work, the exact dynamic equations for the motion of a finite rigid body in a central gravitational field were shown to be of Hamiltonian form with a noncanonical structure. In this paper, the notion of relative ...

In this paper, we consider the geometry of gyroscopic systems with symmetry, starting from an intrinsic Lagrangian viewpoint. We note that natural mechanical systems with exogenous forces can be transformed into gyroscopic ...