相关论文: Gait controllability of length-changing slender mi…
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…
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…
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…
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…
This paper discusses modelling, controllability and gait design for a spherical flexible swimmer. We first present a kinematic model of a low Reynolds number spherical flexible swimming mechanism with periodic surface deformations in the…
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…
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 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…
A recent promising technique for robotic micro-swimmers is to endow them with a magnetization and apply an external magnetic field to provoke their deformation. In this note we consider a simple planar micro-swimmer model made of two…
In this paper we study the locomotion of a shape-changing body swimming in a two-dimensional perfect fluid of infinite extent. The shape-changes are prescribed as functions of time satisfying constraints ensuring that they result from the…
We study the local controllability properties of 2D and 3D bio-mimetic swimmers employing the change of their geometric shape to propel themselves in an incompressible fluid described by Navier-Stokes equations. It is assumed that swimmers'…
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…
The mechanism of swimming at very low Reynolds number conditions is a topic of interest to biologists and engineering community. We develop a novel kinematic model of a slender flexible swimmer which locomotes in a low Reynolds number…
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…
We consider a finite-dimensional model for the motion of microscopic organisms whose propulsion exploits the action of a layer of cilia covering its surface. The model couples Newton's laws driving the organism, considered as a rigid body,…
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper,…
- In this paper, we focus on a variant of a 3-link magnetic microswimmer which consists of three rigid magnetized segments connected by two torsional springs. In particular, we assume that one of the springs is twisted so that the swimmer…
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…
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…
The three-sphere swimmer by Najafi and Golestanian is composed of three spheres connected by two arms. The case in which the swimmer can control the lengths of the two arms has been studied in detail. Here we study a variation of the model…