Lagrangian Mechanics and Carangiform Locomotion

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.

• Conference Paper: http://www.cds.caltech.edu/~murray/preprints/km98-nolcos.pdf
• Project(s): Template:HTDB funding::ONR