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Lagrangian Mechanics and Carangiform Locomotion |
Abstract |
We describe the interaction of a rigid bod … We describe the interaction of a rigid body and its incompressible fluid environment
with reduced Euler-Lagrange equations on the appropriate Cartesian product manifold. We
propose a modification to the planar form of these equations to accomodate control inputs
consistent with a model for carangiform swimming. Initial Lie algebraic analysis of the
resulting control system suggests its usefulness in predicting efficacious gaits for
piscimimetic robots. efficacious gaits for
piscimimetic robots. +
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Authors | Scott D. Kelly and Richard M. Murray + |
ID | 1997l + |
Source | 1998 IFAC Symposium on Nonlinear Control Systems Design (NOLCOS) + |
Tag | km98-nolcos + |
Title | Lagrangian Mechanics and Carangiform Locomotion + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:19:55 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/km98-nolcos.pdf + |
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Lagrangian Mechanics and Carangiform Locomotion + | Title |
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