https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Lagrangian_Mechanics_and_Carangiform_Locomotion 2026-09-17T19:53:24Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Lagrangian_Mechanics_and_Carangiform_Locomotion&diff=20002&oldid=prev 2016-05-15T06:19:55Z

<p>htdb2wiki: creating page for 1997l_km98-nolcos.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Scott D. Kelly and Richard M. Murray<br /> | title = Lagrangian Mechanics and Carangiform Locomotion<br /> | source = 1998 IFAC Symposium on Nonlinear Control Systems Design (NOLCOS)<br /> | year = 1997<br /> | type = Conference Paper<br /> | funding = ONR<br /> | url = http://www.cds.caltech.edu/~murray/preprints/km98-nolcos.pdf<br /> | abstract = We describe the interaction of a rigid body and its incompressible fluid environment<br /> with reduced Euler-Lagrange equations on the appropriate Cartesian product manifold. We<br /> propose a modification to the planar form of these equations to accomodate control inputs<br /> consistent with a model for carangiform swimming. Initial Lie algebraic analysis of the<br /> resulting control system suggests its usefulness in predicting efficacious gaits for<br /> piscimimetic robots. <br /> | flags = <br /> | tag = km98-nolcos<br /> | id = 1997l<br /> }}</div>

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