Experimental validation. a,b, Methods of CM engineering: introducing strategically placed voids (a) or using a heavy sphere concentric with the desired location of the CM (b). c, Photograph of two three-dimensionally printed halves of one shape, each containing a hemispherical void for housing a steel ball bearing (1-inch diameter). d–o, Examples of specific paths and corresponding bodies. Solid black lines are intended trajectories of the CM. Blue curves are experimental trajectories obtained by image-processing of…
