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Published 2005 | Version Published
Book Section - Chapter Open

Optimal Motion of an Articulated Body in a Perfect Fluid

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Abstract

An articulated body can propel and steer itself in a perfect fluid by changing its shape only. Our strategy for motion planning for the submerged body is based on finding the optimal shape changes that produce a desired net locomotion; that is, motion planning is formulated as a nonlinear optimization problem.

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© 2005 IEEE.

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Eprint ID
20294
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CaltechAUTHORS:20101005-092345557

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Created
2010-11-16
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Updated
2021-11-08
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Proceedings IEEE Conference on Decision and Control