Geometry and mechanics have been close partners since the time of the founding masters: Newton, Euler, Lagrange Laplace, Poisson, Jacobi, Hamilton, Routh, Riemann, Noether, Poincaré, Einstein, Cartan and to this day, geometry has continued to play a strong role. This talk is about the utilization of some of these developments in order to solve contemporary control problems related to robotic systems. The dynamics of a member of this class of mechanical systems inherits the symmetries of its total energy and is amenable to geometric analysis methods which typically facilitate control design. In particular, we deal with control problems such as connectivity preserving swarming control and energy-based synchronization of multi-agent robotic systems, robotic pizza tossing and catching, and tractable modeling of a soft juggler robot.