Matches in SemOpenAlex for { <https://semopenalex.org/work/W4301691087> ?p ?o ?g. }
Showing items 1 to 75 of
75
with 100 items per page.
- W4301691087 abstract "Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical models that account for the swimmer's hydrodynamics in order to optimize its structure and control inputs. In this work, we study a planar snake-like multi-link swimmer by using the `perfect fluid' model that accounts for inertial hydrodynamic forces while neglecting viscous drag effects. The swimmer's dynamic equations of motion are formulated and reduced into a first-order system due to symmetries and conservation of generalized momentum variables. Focusing on oscillatory inputs of joint angles, we study optimal gaits for 3-link and 5-link swimmers via numerical integration. For the 3-link swimmer, we also provide a small-amplitude asymptotic solution which enables obtaining closed-form approximations for optimal gaits. The theoretical results are then corroborated by experiments and motion measurement of untethered robotic prototypes with 3 and 5 links floating in a water pool, showing a reasonable agreement between experiments and the theoretical model." @default.
- W4301691087 created "2022-10-05" @default.
- W4301691087 creator A5015780705 @default.
- W4301691087 creator A5018506967 @default.
- W4301691087 creator A5053207754 @default.
- W4301691087 creator A5068527808 @default.
- W4301691087 date "2017-10-18" @default.
- W4301691087 modified "2023-09-27" @default.
- W4301691087 title "Planar Multi-link Swimmers: Experiments and Theoretical Investigation Using Perfect Fluid Model" @default.
- W4301691087 doi "https://doi.org/10.48550/arxiv.1710.06645" @default.
- W4301691087 hasPublicationYear "2017" @default.
- W4301691087 type Work @default.
- W4301691087 citedByCount "0" @default.
- W4301691087 crossrefType "posted-content" @default.
- W4301691087 hasAuthorship W4301691087A5015780705 @default.
- W4301691087 hasAuthorship W4301691087A5018506967 @default.
- W4301691087 hasAuthorship W4301691087A5053207754 @default.
- W4301691087 hasAuthorship W4301691087A5068527808 @default.
- W4301691087 hasBestOaLocation W43016910871 @default.
- W4301691087 hasConcept C104114177 @default.
- W4301691087 hasConcept C111368507 @default.
- W4301691087 hasConcept C121332964 @default.
- W4301691087 hasConcept C121684516 @default.
- W4301691087 hasConcept C127313418 @default.
- W4301691087 hasConcept C134786449 @default.
- W4301691087 hasConcept C154945302 @default.
- W4301691087 hasConcept C173386949 @default.
- W4301691087 hasConcept C18762648 @default.
- W4301691087 hasConcept C2775924081 @default.
- W4301691087 hasConcept C2778753846 @default.
- W4301691087 hasConcept C31258907 @default.
- W4301691087 hasConcept C33923547 @default.
- W4301691087 hasConcept C41008148 @default.
- W4301691087 hasConcept C47446073 @default.
- W4301691087 hasConcept C57879066 @default.
- W4301691087 hasConcept C72921944 @default.
- W4301691087 hasConcept C74650414 @default.
- W4301691087 hasConcept C97355855 @default.
- W4301691087 hasConcept C98083399 @default.
- W4301691087 hasConceptScore W4301691087C104114177 @default.
- W4301691087 hasConceptScore W4301691087C111368507 @default.
- W4301691087 hasConceptScore W4301691087C121332964 @default.
- W4301691087 hasConceptScore W4301691087C121684516 @default.
- W4301691087 hasConceptScore W4301691087C127313418 @default.
- W4301691087 hasConceptScore W4301691087C134786449 @default.
- W4301691087 hasConceptScore W4301691087C154945302 @default.
- W4301691087 hasConceptScore W4301691087C173386949 @default.
- W4301691087 hasConceptScore W4301691087C18762648 @default.
- W4301691087 hasConceptScore W4301691087C2775924081 @default.
- W4301691087 hasConceptScore W4301691087C2778753846 @default.
- W4301691087 hasConceptScore W4301691087C31258907 @default.
- W4301691087 hasConceptScore W4301691087C33923547 @default.
- W4301691087 hasConceptScore W4301691087C41008148 @default.
- W4301691087 hasConceptScore W4301691087C47446073 @default.
- W4301691087 hasConceptScore W4301691087C57879066 @default.
- W4301691087 hasConceptScore W4301691087C72921944 @default.
- W4301691087 hasConceptScore W4301691087C74650414 @default.
- W4301691087 hasConceptScore W4301691087C97355855 @default.
- W4301691087 hasConceptScore W4301691087C98083399 @default.
- W4301691087 hasLocation W43016910871 @default.
- W4301691087 hasOpenAccess W4301691087 @default.
- W4301691087 hasPrimaryLocation W43016910871 @default.
- W4301691087 hasRelatedWork W110899775 @default.
- W4301691087 hasRelatedWork W2016826817 @default.
- W4301691087 hasRelatedWork W2024468689 @default.
- W4301691087 hasRelatedWork W2033224722 @default.
- W4301691087 hasRelatedWork W2055450412 @default.
- W4301691087 hasRelatedWork W2061246596 @default.
- W4301691087 hasRelatedWork W2461222008 @default.
- W4301691087 hasRelatedWork W3100805168 @default.
- W4301691087 hasRelatedWork W373067601 @default.
- W4301691087 hasRelatedWork W4301691087 @default.
- W4301691087 isParatext "false" @default.
- W4301691087 isRetracted "false" @default.
- W4301691087 workType "article" @default.