1. Definitions
Essentially, locomotion is based on the following principle.
Any animal moving through space alters its shape in order to exert forces on its environment. Then, according to Newton’s law of action and reaction, the environment in turn exerts external forces on the animal’s body; the resultant force and torque of these forces enable the animal to propel itself and maneuver its body through space.
In the following, we adopt the multi-body systems model to derive a general, unified framework for modeling locomotion – and, in particular, bio-inspired locomotion – in robotics.
1.1 Definition of a multi-body mobile system
A multi-body...
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