4 citations · 7 across the 8 of their papers we have counts for
10 papers
Modelling, Controllability and Gait Design for a Spherical Flexible Swimmer
Sudin Kadam, Ravi N. Banavar, Vivek Natarajan
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 swi…
A note on the kinematic model of the planar Purcell's swimmer
Sudin Kadam, Ravi N. Banavar
The kinematic model for the planar Purcell's swimmer - a low Reynolds number microswimmer is derived and used extensively in the literature. We revisit the derivation and give the…
Exact isoholonomic motion of the planar Purcell's swimmer
Sudin Kadam, Karmvir Singh Phogat, Ravi N. Banavar +1
In this article we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the Discrete-time Pontryagin maximum principle. The 3-link Purc…
Variational dynamic interpolation for kinematic systems on trivial principal bundles
Sudin Kadam, Ravi N. Banavar
This article presents the dynamic interpolation problem for locomotion systems evolving on a trivial principal bundle . Given an ordered set of points in , we wish to generat…
Modelling and controllability of the motion of a slender, flexible micro-swimmer
Sudin Kadam, Ravi N. Banavar
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 fle…
Trajectory Tracking Using Motion Primitives for the Purcell's Swimmer
Sudin Kadam, Kedar Joshi, Naman Gupta +2
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 locomoti…
Geometric Controllability of The Purcell's Swimmer and its Symmetrized Cousin
Sudin Kadam, Ravi Banavar
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 framewo…
Locomotion of the generalized Purcell's swimmer : Modelling, controllability and motion primitives
Sudin Kadam, Ravi Banavar
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 Pur…
Notes on geometry of locomotion of 3-dimensional version of the Purcell's swimmer
Sudin Kadam, Ravi Banavar
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…
A geometric approach to the dynamics of flapping wing micro aerial vehicles: Modelling and reduction
Sudin Kadam, Sneha Gajbhiye, Ravi Banavar
This paper presents a geometric framework for analysis of dynamics of flapping wing micro aerial vehicles (FWMAV) which achieve locomotion in the special Euclidean group SE(3) usin…