Conclusion
Modelling the dynamics of the locomotion

In this article, we have briefly reviewed several aspects of locomotion dynamics in biorobotics. Drawing on examples from animals and their robotic counterparts, we have demonstrated the need to develop methodological tools for designing, modeling, controlling, and planning the motion of a new generation of robots equipped with a large number of degrees of freedom (external and/or internal). In this context, we have provided an overview of Lagrangian modeling from the perspective of geometric mechanics. Particular attention was paid to the problem of system classification. This perspective allowed us to highlight that, despite their apparent diversity, many modes of locomotion share common geometric structures. Although qualitative, this knowledge is useful for solving locomotion problems since it enables the generation of general solutions and serves as a valuable tool for guiding intuition...