Related papers: Geometric visualization of self-propulsion in a co…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
We present a generalized, 3 dimensional version of the Purcell's swimmer which is a planar mechanism locomoting at low Reynlods number regime. We use Cox theory and resistive force theory to come up with the forces acting on the system. We…
This study investigates the dynamics and controllability of a Purcell three-link microswimmer equipped with passive elastic torsional coils at its joints. By controlling the spontaneous curvature, we analyse the swimmers motion using both…
Micro-robotics at low Reynolds number has been a growing area of research over the past decade. We propose and study a generalized 3-link robotic swimmer inspired by the planar Purcell's swimmer. By incorporating out-of-plane motion of the…
We analyse weak and strong controllability notions for the locomotion of the 3-link Purcell's swimmer, the simplest possible swimmer at low Reynolds number from a geometric framework. After revisiting a purely kinematic form of the…
Many robotic systems locomote using gaits - periodic changes of internal shape, whose mechanical interaction with the robot's environment generate characteristic net displacements. Prominent examples with two shape variables are the low…
We study the effects of hydrodynamic interactions between a wall and the Purcell three-link swimmer in the two-dimensional case. After deriving the equations of motion in a low Reynolds number regime using Resistive Force Theory with…
In this article, we are interested in studying locomotion strategies for a class of shape-changing bodies swimming in a fluid. This class consists of swimmers subject to a particular linear dynamics, which includes the two most investigated…
We develop a qualitative geometric approach to swimming at low Reynolds number which avoids solving differential equations and uses instead landscape figures of two notions of curvatures: The swimming curvature and the curvature derived…
Swimming in curved spacetimes is a phenomenon whereby free bodies in curved spacetimes are able to propel themselves by performing cyclic internal motions. When originally proposed, it was further suggested that, in the limit of fast…
Limbless organisms of all sizes use undulating patterns of self-deformation to locomote. Geometric mechanics, which maps deformations to motions, provides a powerful framework to formalize and investigate the theoretical properties and…
The self-propelled motion of microscopic bodies immersed in a fluid medium is studied using molecular dynamics simulation. The advantage of the atomistic approach is that the detailed level of description allows complete freedom in…
This work studies the motion of Purcell's three-link microswimmer in viscous flow, by using perturbation expansion of its dynamics under small-amplitude strokes. Leading-order expressions and next-order correction terms for the displacement…
We use particle simulations to reveal two distinct propulsion mechanisms for a scallop-like swimmer to locomote itself in granular media by reciprocally flapping its wings. Based on the discrete element method, we examine the kinematics and…
Locomotion at low Reynolds numbers is a topic of growing interest, spurred by its various engineering and medical applications. This paper presents a novel prototype and a locomotion algorithm for the 3-link planar Purcell's swimmer based…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
Purcell's planar three-link microswimmer is a classic model of swimming in low-Reynolds-number fluid, inspired by motion of flagellated microorganisms. Many works analyzed this model, assuming that the two joint angles are directly…
In this paper we address the question of the optimal design for the Purcell 3-link swim-mer. More precisely we investigate the best link length ratio which maximizes its displace-ment. The dynamics of the swimmer is expressed as an ODE,…
In this paper we study a mathematical model of one-dimensional swimmers performing a planar motion while fully immersed in a viscous fluid. The swimmers are assumed to be of small size, and all inertial effects are neglected. Hydrodynamic…
The geometric phase techniques for swimming in viscous flows express the net displacement of a swimmer as a path integral of a field in configuration space. This representation can be transformed into an area integral for simple swimmers…