38 citations · 42 across the 4 of their papers we have counts for
5 papers
Optimal control of a swimming robot based on Purcell's microswimmer model
Noam Berkovich Lahav, Oren Wiezel, Yizhar Or
Purcell's swimmer is a well-known planar model of a swimming microorganism, governed by low Reynolds number hydrodynamics, which is comprised of three rigid links connected by actu…
Geometric analysis of gaits and optimal control for three-link kinematic swimmers
Oren Wiezel, Suresh Ramasamy, Nathan Justus +2
Many robotic systems locomote using gaits - periodic changes of internal shape, whose mechanical interaction with the robot's environment generate characteristic net displacements.…
Energy-optimal strokes for multi-link microswimmers: Purcell's loops and Taylor's waves reconciled
François Alouges, Antonio DeSimone, Laetitia Giraldi +2
Micron-scale swimmers move in the realm of negligible inertia, dominated by viscous drag forces. In this paper, we formulate the leading-order dynamics of a slender multi-link (N-l…
Planar Multi-link Swimmers: Experiments and Theoretical Investigation Using "Perfect Fluid" Model
Evgenia Virozub, Oren Wiezel, Alon Wolf +1
Robotic swimmers are currently a subject of extensive research and development for several underwater applications. Clever design and planning must rely on simple theoretical model…
Optimization and small-amplitude analysis of Purcell's three-link microswimmer model
Oren Wiezel, Yizhar Or
This work studies the motion of Purcell's three-link microswimmer in viscous flow, by using perturbation expansion of its dynamics under small-amplitude strokes. Leading-order expr…