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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
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15 May 2016 06:19:57  +
URL
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http://www.cds.caltech.edu/~murray/preprints/kel+98-acc.pdf  +
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Modelling and Experimental Investigation of Carangiform Locomotion for Control + Title
 

 

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