Models and control of fish-like locomotion

J. Melli and C. W. Rowley

Experimental Mechanics 50(9) : 13551360, March 2010.

Abstract:

Inspired by the advanced capabilities of fish-like swimmers, we seek a greater understanding of the hydrodynamic mechanisms they employ. Borrowing tools from geometric mechanics, we develop a large-amplitude gait design technique for self-propelling deformable swimmers in potential flow and Stokes flow. Additionally, a heuristically-developed control algorithm is implemented to nearly optimize thrust-generation for a swimmer moving through its own nearly-periodic vortex wake.

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