Asymmetric Friction in Locomotion

This paper extends geometric mechanics models of locomotion to incorporate asymmetric friction, a more realistic scenario than previous models. This allows for a more accurate understanding of how robots and animals move, particularly in environments where friction isn't uniform. The use of Finsler metrics provides a mathematical framework for analyzing these systems.

• •Extends geometric mechanics to handle asymmetric friction.
• •Uses Finsler metrics for modeling.
• •Provides a sub-Finslerian approach to motility map construction.
• •Identifies system properties for characterizing motion capabilities.