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Propulsion and control of deformable bodies in an ideal fluid

Mason, Richard and Burdick, Joel (1999) Propulsion and control of deformable bodies in an ideal fluid. In: 1999 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 773-780. ISBN 0-7803-5181-9

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Motivated by considerations of shape changing propulsion of underwater robotic vehicles, this paper analyses the mechanics of deformable bodies operating in an ideal fluid. The application of methods from geometric mechanics results in a compact and insightful formulation of the problem. We develop an explicit formula for the fluid mechanical connection, in terms of the fluid potential function, for this class of systems. The connection can be used to analyze many issues in motion planning and control. The theory is illustrated by application to an amoeba-like device.

Item Type:Book Section
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Additional Information:© 1999 IEEE. Date of Current Version: 06 August 2002.
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INSPEC Accession Number6345785
Record Number:CaltechAUTHORS:20111208-082607396
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Official Citation:Mason, R.; Burdick, J.; , "Propulsion and control of deformable bodies in an ideal fluid," Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on , vol.1, no., pp.773-780 vol.1, 1999 doi: 10.1109/ROBOT.1999.770068 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:28362
Deposited By: Tony Diaz
Deposited On:16 Dec 2011 16:36
Last Modified:16 Dec 2011 16:36

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