This a peer reviewed 1-page extended abstract for a talk given at the Dynamic Walking conference, 2021Both legged locomotion and slithering motions typically utilize periodic gaits – repeating cycles of body shape
change that produce a net motion through the world. Legged locomotion can be viewed from the perspective of piecewise contact constraint formation and removal. Slithering and low Reynolds number swimming operate under continuous constraints of force balance, wherein dissipation removes the ability to accumulate momentum. Here we discuss how to bridge the gap between these domains of motion, thereby, among other benefits, producing models for the space of legged locomotion with slipping. The connective fabric is the use of a “Stokesian”, or “local connection” model.Army Research Office Defense University Research Instrumentation Program grant W911NF-17-1-0243
Army Research Office Multi University Research Initiative grant W911NF-17-1-0306
National Science Foundation Civil, Mechanical and Manufacturing Innovation grant 1825918
D. Dan and Betty Kahn Michigan-Israel Partnership for Research and Education Autonomous Systems Mega-ProjectPeer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/172173/1/DW2021-1.pdf84b631d7-aa77-4c16-b024-4ad83d186b3cDescription of DW2021-1.pdf : Main documentSEL
