相关论文: Planar Multi-link Swimmers: Experiments and Theore…

The controllability of a fully three-dimensional $N$-link swimmer is studied. After deriving the equations of motion in a low Reynolds number fluid by means of Resistive Force Theory, the controllability of the minimal $2$-link swimmer is…

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…

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…

Swimming micro-organisms such as flagellated bacteria and sperm cells have fascinating locomotion capabilities. Inspired by their natural motion, there is an ongoing effort to develop artificial robotic nano-swimmers for potential in-body…

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…

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,…

We employ three numerical methods to explore the motion of low Reynolds number swimmers, modeling the hydrodynamic interactions by means of the Oseen tensor approximation, lattice Boltzmann simulations and multiparticle collision dynamics.…

We propose a computational method to solve optimal swimming problems, based on the boundary integral formulation of the hydrodynamic interaction between swimmer and surrounding fluid and direct constrained minimization of the energy…

This research provides a theoretical foundation for modeling and real-time estimation of both the pose and inertial parameters of a free-floating multi-link system with link thrusters, which are essential for safe and effective controller…

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…

Optimal gait design is important for micro-organisms and micro-robots that propel themselves in a fluid environment in the absence of external force or torque. The simplest models of shape changes are those that comprise a series of…

A system of ferromagnetic particles trapped at a liquid-liquid interface and subjected to a set of magnetic fields (magnetocapillary swimmers) is studied numerically using a hybrid method combining the pseudopotential lattice Boltzmann…

We study self propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllability, and its proof relies on applying…

Swimming consists by definition in propelling through a fluid by means of bodily movements. Thus, from a mathematical point of view, swimming turns into a control problem for which the controls are the deformations of the swimmer. The aim…

Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rigid bodies. The emergence of soft robotics contributed to a…

Here we introduce a two-dimensional (2D) low-Reynolds swimmer and discuss the motion of the swimmer both in noise-free and stochastic regimes. Three spheres, linked by extensible arms, in a plane form the triangle body of micro-swimmer.…

The motion of biological micro-robots -- similar to that of swimming microorganisms such as bacteria or spermatozoa -- is governed by different physical rules than what we experience in our daily life. This is particularly due to the…

We address the problem of controlling a dynamical system governing the motion of a 3D weighted shape changing body swimming in a perfect fluid. The rigid displacement of the swimmer results from the exchange of momentum between prescribed…

In this article, we consider a swimmer (i.e. a self-deformable body) immersed in a fluid, the flow of which is governed by the stationary Stokes equations. This model is relevant for studying the locomotion of microorganisms or micro robots…

In this paper we focus on a two-link swimmer called scallop which moves changing dynamics between two fluids regimes. We address and solve explicitly two optimal control problems, the minimum time one and the minimum quadratic cost needed…