Browse wiki
From MurrayWiki
Modelling and Experimental Investigation of Carangiform Locomotion for Control |
Abstract |
We propose a model for planar carangiform … We propose a model for planar carangiform swimming based on conservative equations for
the interaction of a rigid body and an incompressible fluid. We account for the generation
of thrust due to vortex shedding through controlled coupling terms. We investigate the
correct form of this coupling experimentally with a robotic propulsor, comparing its
observed behavior with that predicted by unsteady hydrodynamics. Our analysis of thrust
generation by an oscillating hydrofoil allows us to characterize and evaluate certain
families of gaits. Our final swimming model takes the form of a control-affine nonlinear
system. form of a control-affine nonlinear
system. +
|
---|---|
Authors | Scott D. Kelly, Richard J. Mason, Carl T. Anhalt, Richard M. Murray, Joel W. Burdick + |
ID | 1997i + |
Source | 1998 American Control Conference + |
Tag | kel+98-acc + |
Title | Modelling and Experimental Investigation of Carangiform Locomotion for Control + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
|
15 May 2016 06:19:57 + |
URL This property is a special property in this wiki.
|
http://www.cds.caltech.edu/~murray/preprints/kel+98-acc.pdf + |
hide properties that link here |
Modelling and Experimental Investigation of Carangiform Locomotion for Control + | Title |
---|