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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 EulerLagrange 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. +


Authors  Scott D. Kelly and Richard M. Murray + 
ID  1997l + 
Source  1998 IFAC Symposium on Nonlinear Control Systems Design (NOLCOS) + 
Tag  km98nolcos + 
Title  Lagrangian Mechanics and Carangiform Locomotion + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:19:55 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/km98nolcos.pdf + 
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Lagrangian Mechanics and Carangiform Locomotion +  Title 
