Dynamic modeling of floating systems: Application to eel-like robot and rowing system

This paper presents the dynamic modeling of floating systems with application for three-dimensional swimming eel-like robot and rowing-like system. To obtain the Cartesian evolution during the design or control of these systems the dynamic models must be used. Owing to the complexity of such systems efficient and simple tools are needed to obtain their model. For this goal we propose an efficient recursive Newton-Euler approach which is easy to implement. It can be programmed either numerically or using efficient customized symbolic techniques.