Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality. - Jackson Habala; Gabriel B. Margolis; Tianyu Wang 010; Pratyush Bhatt; Juntao He; Naheel Naeem; Zhaochen Xu; Pulkit Agrawal 001; Daniel I. Goldman; Di Luo; Baxi Chong (CoRR, 2026)