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math-ph2026
Odd elasticity in a three-link microswimmer: feedback equivalence, global controllability, and the cost of non-reciprocity
Rossella Attanasi, Gaetano Napoli, Marta Zoppello
We study a Purcell three-link microswimmer whose joints are \emph{odd-elastic}: the torsional stiffness is non-Hermitian, its antisymmetric part injecting mechanical work so…
math-ph2025
Controllability and Displacement Analysis of a Three-Link Elastic Microswimmer: A Geometric Control Approach
Rossella Attanasi, Marta Zoppello, Gaetano Napoli
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 sponta…