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Hatton RL, Choset H.  2015.  Nonconservativity and Noncommutativity in Locomotion. European Physical Journal Special Topics: Dynamics of Animal Systems. 224:3141–3174.
Dear T, Hatton RL, Choset H.  2014.  Nonlinear Dimensionality Reduction for Kinematic Cartography with an Application Toward Robotic Locomotion. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).