DocumentCode :
107731
Title :
Geometric Swimming at Low and High Reynolds Numbers
Author :
Hatton, Ross L. ; Choset, Howie
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume :
29
Issue :
3
fYear :
2013
fDate :
Jun-13
Firstpage :
615
Lastpage :
624
Abstract :
Several efforts have recently been made to relate the displacement of swimming three-link systems over strokes to geometric quantities of the strokes. In doing so, they provide powerful, intuitive representations of the bounds on a system´s locomotion capabilities and the forms of its optimal strokes or gaits. While this approach has been successful for finding net rotations, noncommutativity concerns have prevented it from working for net translations. Our recent results on other locomoting systems have shown that the degree of this noncommutativity is dependent on the coordinates used to describe the problem and that it can be greatly mitigated by an optimal choice of coordinates. Here, we extend the benefits of this optimal-coordinate approach to the analysis of swimming at the extremes of low and high Reynolds numbers.
Keywords :
biomechanics; fluid dynamics; legged locomotion; optimal control; Reynolds numbers; displacement; gaits; geometric quantity; geometric swimming; intuitive representations; locomoting systems; net translations; noncommutativity; optimal strokes; optimal-coordinate approach; swimming three-link systems; system locomotion capability; Coordinate choice; Lie brackets; geometric mechanics; locomotion; swimming;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2013.2251211
Filename :
6487415
Link To Document :
بازگشت