Optimal Gaits for Drag-dominated Swimmers with Passive Elastic Joints
arXiv:2010.01121 · doi:10.1103/PhysRevE.103.032605
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.
arXiv comment20 pages, 15 figures
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