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Modelling Efficient Pisciform Swimming for Control |
Abstract |
We propose a planar model for the swimming … We propose a planar model for the swimming
of certain marine animals based on
reduced Euler-Lagrange equations for the interaction of a rigid body and
an incompressible fluid.
This model assumes the form of a control-affine nonlinear system with drift;
preliminary accessibility analysis suggests its utility in predicting
efficacious gaits for piscimimetic robots.
We account for the generation of thrust due to
vortex shedding through controlled coupling terms. At the
heart of this coupling is an abstraction from hydrofoil theory;
we investigate its applicability to real
swimming using an articulated robotic caudal fin. We compare the
observed behavior of our experimental apparatus to that predicted
numerically by steady hydrodynamic theory. numerically by steady hydrodynamic theory. +
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Authors | Scott D. Kelly and Richard M. Murray + |
ID | 2000h + |
Source | <i>International Journal of Robust and Nonlinear Control</i>, 10(4):217-241 + |
Tag | km00-ijnrc + |
Title | Modelling Efficient Pisciform Swimming for Control + |
Type | Journal paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:19:24 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/km00-ijrnc.pdf + |
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Modelling Efficient Pisciform Swimming for Control + | Title |
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