{"id":"https://openalex.org/W2956413168","doi":"https://doi.org/10.1109/tro.2019.2915424","title":"The Geometry of Optimal Gaits for Drag-Dominated Kinematic Systems","display_name":"The Geometry of Optimal Gaits for Drag-Dominated Kinematic Systems","publication_year":2019,"publication_date":"2019-07-09","ids":{"openalex":"https://openalex.org/W2956413168","doi":"https://doi.org/10.1109/tro.2019.2915424","mag":"2956413168"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2915424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2915424","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028600451","display_name":"Suresh Ramasamy","orcid":"https://orcid.org/0000-0003-1077-3560"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Suresh Ramasamy","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA"],"raw_orcid":"https://orcid.org/0000-0003-1077-3560","affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076997453","display_name":"Ross L. Hatton","orcid":"https://orcid.org/0000-0002-0422-0209"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross L. Hatton","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA"],"raw_orcid":"https://orcid.org/0000-0002-0422-0209","affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.169,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.75475004,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"35","issue":"4","first_page":"1014","last_page":"1033"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7764365673065186},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.6864168643951416},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6281517148017883},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5967767238616943},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5301559567451477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4355573058128357},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.39953911304473877},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3830781579017639},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3229408264160156},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.2553255558013916},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.25437092781066895},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2177201211452484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1831076741218567}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7764365673065186},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.6864168643951416},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6281517148017883},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5967767238616943},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5301559567451477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4355573058128357},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.39953911304473877},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3830781579017639},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3229408264160156},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2553255558013916},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.25437092781066895},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2177201211452484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1831076741218567},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2019.2915424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2915424","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.5299999713897705,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G4005065238","display_name":"Leg Mechanics for Dynamic Locomotion","funder_award_id":"1462555","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6969813989","display_name":"CAREER: Geometric Understanding of Locomotion","funder_award_id":"1653220","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W191813211","https://openalex.org/W609283096","https://openalex.org/W1498792794","https://openalex.org/W1503921472","https://openalex.org/W1530705471","https://openalex.org/W1647490791","https://openalex.org/W1849832765","https://openalex.org/W1964211981","https://openalex.org/W1966126529","https://openalex.org/W1966375567","https://openalex.org/W1970198413","https://openalex.org/W1977250608","https://openalex.org/W1980862968","https://openalex.org/W1981890426","https://openalex.org/W1986888374","https://openalex.org/W1993300073","https://openalex.org/W1993545591","https://openalex.org/W1997966986","https://openalex.org/W2015063509","https://openalex.org/W2021272905","https://openalex.org/W2032406975","https://openalex.org/W2039763880","https://openalex.org/W2054261995","https://openalex.org/W2056370235","https://openalex.org/W2057052324","https://openalex.org/W2060127978","https://openalex.org/W2065935072","https://openalex.org/W2082776714","https://openalex.org/W2087328483","https://openalex.org/W2089465567","https://openalex.org/W2094460003","https://openalex.org/W2097768817","https://openalex.org/W2106141980","https://openalex.org/W2108559035","https://openalex.org/W2133361850","https://openalex.org/W2137922094","https://openalex.org/W2144026911","https://openalex.org/W2148224992","https://openalex.org/W2169964128","https://openalex.org/W2171575945","https://openalex.org/W2208654760","https://openalex.org/W2324074576","https://openalex.org/W2412537136","https://openalex.org/W2470855235","https://openalex.org/W2583771427","https://openalex.org/W2591485004","https://openalex.org/W2602343718","https://openalex.org/W2735426609","https://openalex.org/W2794212103","https://openalex.org/W2804782123","https://openalex.org/W2884237205","https://openalex.org/W2961703895","https://openalex.org/W2963432663","https://openalex.org/W3047769892","https://openalex.org/W3106095942","https://openalex.org/W3147372055","https://openalex.org/W4239270100","https://openalex.org/W4251794413","https://openalex.org/W4292408540","https://openalex.org/W6687937038"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W1995601874"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"a":[5,52,109,134,172],"set":[6],"of":[7,16,29,51,67,70,136,152],"geometric":[8],"principles":[9,115,132,165],"for":[10,143,154],"understanding":[11],"and":[12,41,49,82,122,142,150,157,176],"optimizing":[13],"the":[14,27,35,47,59,65,68,71,76,80,88,93],"gaits":[15],"drag-dominated":[17],"kinematic":[18],"locomoting":[19],"systems.":[20],"For":[21],"systems":[22,119],"with":[23,91,120],"two":[24],"shape":[25,48,127],"variables,":[26],"dynamics":[28],"gait":[30,60,174],"optimization":[31,144],"are":[32],"analogous":[33],"to":[34,45,104,116,169],"process":[36],"by":[37,64,79,87],"which":[38,95],"internal":[39,56],"pressure":[40,57],"surface":[42,77,83],"tension":[43,84],"combine":[44],"produce":[46],"size":[50],"soap":[53],"bubble.":[54],"The":[55],"on":[58,118,133],"curve":[61],"is":[62,85,102],"provided":[63,86],"flux":[66],"curvature":[69],"system":[72,137],"constraints":[73],"passing":[74],"through":[75],"bounded":[78],"gait,":[81,94],"cost":[89],"associated":[90],"executing":[92],"when":[96],"executed":[97],"at":[98],"optimal":[99],"(constant-power)":[100],"pacing":[101],"proportional":[103],"its":[105],"pathlength":[106],"measured":[107],"under":[108],"Riemannian":[110],"metric.":[111],"We":[112,129,160],"extend":[113],"these":[114,131,164],"work":[117],"three":[121,126],"then":[123],"more":[124],"than":[125],"variables.":[128],"demonstrate":[130,162],"variety":[135],"geometries":[138],"(including":[139],"Purcell's":[140],"swimmer)":[141],"criteria":[145],"that":[146],"include":[147],"maximizing":[148],"displacement":[149],"efficiency":[151],"motion":[153],"both":[155],"translation":[156],"turning":[158],"motions.":[159],"also":[161],"how":[163],"can":[166],"be":[167],"used":[168],"simultaneously":[170],"optimize":[171],"system's":[173],"kinematics":[175],"physical":[177],"design.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}