Lagrangian Mechanics and Carangiform Locomotion

From Murray Wiki
Jump to navigationJump to search


Scott D. Kelly and Richard M. Murray
1998 IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)

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.