Lagrangian Mechanics and Carangiform Locomotion

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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.