Erratum to “Reduced Locomotion Dynamics With Passive Internal DoFs: Application to Nonholonomic and Soft Robotics” [Jun 14 578-592]

In paper [???Reduced locomotion dynamics with passive internal DoFs: Application to nonholonomic and soft robotics,??? IEEE Trans. Robot., vol. 30, no. 3, pp. 578???592, Jun. 2014; Boyer, F. and Belkhiri, A.], we proposed a general modeling framework to address locomotion systems containing internal passive degrees of freedom. Unfortunately, we committed an error in illustrating the approach on the 3-D model of the bicycle. In this erratum, we correct this error which concerns the kinematic model of the bicycle.