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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.  +
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
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15 May 2016 06:19:55  +
URL
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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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