Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

This paper presents the dynamic modeling of a continuous three-dimensional swimming eel-like robot. The modeling approach is based on the "geometrically exact beam theory" and on that of Newton-Euler, as it is well known within the robotics community. The proposed algorithm allows us to compute the robot\´s Galilean movement and the control torques as a function of the expected internal deformation of the eel\´s body