View source for Modelling and Experimental Investigation of Carangiform Locomotion for Control

{{HTDB paper
| authors = Scott D. Kelly, Richard J. Mason, Carl T. Anhalt, Richard M. Murray, Joel W. Burdick
| title = Modelling and Experimental Investigation of Carangiform Locomotion for Control
| source = 1998 American Control Conference
| year = 1997
| type = Conference Paper
| funding = ONR/STTR
| url = http://www.cds.caltech.edu/~murray/preprints/kel+98-acc.pdf
| abstract =  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. 
| flags = 
| tag = kel+98-acc
| id = 1997i
}}