Modelling and experimental investigation of carangiform locomotion for control

Author

Kelly, Scott D. ; Mason, Richard J. ; Anhalt, Carl T. ; Murray, Richard M. ; Burdick, Joel W.

Author_Institution

Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA

Volume

2

fYear

1998

fDate

21-26 Jun 1998

Firstpage

1271

Abstract

We propose a model for planar carangiform swimming based on conservative equations for the interaction of a rigid body and an incompressible fluid. We account for the generation of thrust due to vortex shedding through controlled coupling terms. We investigate the correct form of this coupling experimentally with a robotic propulsor, comparing its observed behavior to that predicted by unsteady hydrodynamics. Our analysis of thrust generation by an oscillating hydrofoil allows us to characterize and evaluate certain families of gaits. Our final swimming model takes the form of a control-affine nonlinear system

Keywords

biological fluid dynamics; external flows; flow instability; fluid oscillations; marine systems; mobile robots; nonlinear control systems; vortices; carangiform locomotion; conservative equations; control; control-affine nonlinear system; gait families; incompressible fluid; oscillating hydrofoil; planar carangiform swimming; rigid body; robotic propulsor; thrust generation; unsteady hydrodynamics; vortex shedding; Character generation; Control system synthesis; Equations; Hydrodynamics; Marine animals; Nonlinear control systems; Propulsion; Robots; Solid modeling; Viscosity;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1998. Proceedings of the 1998

Conference_Location

Philadelphia, PA

ISSN

0743-1619

Print_ISBN

0-7803-4530-4

Type

conf

DOI

10.1109/ACC.1998.703619

Filename

703619