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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.

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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.

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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 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.
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Office of Naval Research (ONR)UNSPECIFIED
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
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ID Code:3923
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Deposited On:19 Jul 2006
Last Modified:08 Nov 2021 20:13

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