The mechanics of undulatory locomotion: the mixed kinematic and dynamic case

This paper studies the mechanics of undulatory locomotion. This type of locomotion is generated by a coupling of internal shape changes to external non-holonomic constraints. Employing methods from geometric mechanics, the authors use the dynamic symmetries and kinematic constraints to develop a specialized form of the dynamic equations which govern undulatory systems. These equations are written in terms of physically meaningful and intuitively appealing variables that show the role of internal shape changes in driving locomotion