https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Modelling_Efficient_Pisciform_Swimming_for_Control 2026-06-07T07:51:49Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Modelling_Efficient_Pisciform_Swimming_for_Control&diff=19970&oldid=prev 2016-05-15T06:19:24Z

<p>htdb2wiki: creating page for 2000h_km00-ijnrc.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Scott D. Kelly and Richard M. Murray<br /> | title = Modelling Efficient Pisciform Swimming for Control<br /> | source = &lt;i&gt;International Journal of Robust and Nonlinear Control&lt;/i&gt;, 10(4):217-241<br /> | year = 2000<br /> | type = <br /> Journal paper<br /> | funding = NSF<br /> | url = http://www.cds.caltech.edu/~murray/preprints/km00-ijrnc.pdf<br /> | abstract = <br /> We propose a planar model for the swimming <br /> of certain marine animals based on <br /> reduced Euler-Lagrange equations for the interaction of a rigid body and <br /> an incompressible fluid. <br /> This model assumes the form of a control-affine nonlinear system with drift;<br /> preliminary accessibility analysis suggests its utility in predicting<br /> efficacious gaits for piscimimetic robots. <br /> We account for the generation of thrust due to <br /> vortex shedding through controlled coupling terms. At the<br /> heart of this coupling is an abstraction from hydrofoil theory; <br /> we investigate its applicability to real<br /> swimming using an articulated robotic caudal fin. We compare the <br /> observed behavior of our experimental apparatus to that predicted <br /> numerically by steady hydrodynamic theory.<br /> | flags = <br /> | tag = km00-ijnrc<br /> | id = 2000h<br /> }}</div>

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