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Modelling and experimental investigation of carangiform locomotion for control

Kelly, Scott D. and Mason, Richard J. and Anhalt, Carl T. and Murray, Richard M. and Burdick, Joel W. (1998) Modelling and experimental investigation of carangiform locomotion for control. In: Proceedings of the 1998 American Control Conference, 21-26 June 1998, Philadelphia PA. Vol.2. IEEE , Piscataway, NJ, pp. 1271-1276. ISBN 0-7803-4530-4 http://resolver.caltech.edu/CaltechAUTHORS:KELacc98

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Abstract

We propose a model for planar carangiform swimming based on conservative equations for the interaction of a rigid body and an incompressible fluid. We account for the generation of thrust due to vortex shedding through controlled coupling terms. We investigate the correct form of this coupling experimentally with a robotic propulsor, comparing its observed behavior to that predicted by unsteady hydrodynamics. Our analysis of thrust generation by an oscillating hydrofoil allows us to characterize and evaluate certain families of gaits. Our final swimming model takes the form of a control-affine nonlinear system.


Item Type:Book Section
Additional Information:© Copyright 1998 IEEE. Reprinted with permission. The authors would like to thank Fong Liu for his assistance in the design and construction of the experimental apparatus and Professor Ted Wu for his encouragement and the use of his laboratory. Funding for this research was provided by the Office of Naval Research through the STTR program. Additional funding for Scott Kelly’s research was provided in part by NSF grant CMS-9502224, and in part by an ONR Graduate Fellowship.
Subject Keywords:carangiform locomotion; conservative equations; control-affine nonlinear system; gait families; incompressible fluid; oscillating hydrofoil; planar carangiform swimming; rigid body; robotic propulsor; thrust generation; unsteady hydrodynamics; vortex shedding
Record Number:CaltechAUTHORS:KELacc98
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:KELacc98
Alternative URL:http://dx.doi.org/10.1109/ACC.1998.703619
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:3923
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:19 Jul 2006
Last Modified:26 Dec 2012 08:56

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