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 $k_o$ injecting mechanical work so…