Optimal Gaits for Drag-dominated Swimmers with Passive Elastic Joints
Biological Physics
2021-03-17 v1 Classical Physics
Fluid Dynamics
Abstract
In this paper, we identify optimal swimming strategies for drag-dominated swimmers with a passive elastic joint. We use resistive force theory (RFT) to obtain the dynamics of the system. We then use frequency domain analysis to relate the motion of the passive joint to the motion of the actuated joint. We couple this analysis with elements of the geometric framework introduced in our previous work aimed at identifying useful gaits for systems in drag dominated environments, to identify speed-maximizing and efficiency-maximizing gaits for drag-dominated swimmers with a passive elastic joint.
Keywords
Cite
@article{arxiv.2010.01121,
title = {Optimal Gaits for Drag-dominated Swimmers with Passive Elastic Joints},
author = {Suresh Ramasamy and Ross L. Hatton},
journal= {arXiv preprint arXiv:2010.01121},
year = {2021}
}
Comments
20 pages, 15 figures