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Published 2005 | Published
Book Section - Chapter Open

Optimal Motion of an Articulated Body in a Perfect Fluid

Abstract

An articulated body can propel and steer itself in a perfect fluid by changing its shape only. Our strategy for motion planning for the submerged body is based on finding the optimal shape changes that produce a desired net locomotion; that is, motion planning is formulated as a nonlinear optimization problem.

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© 2005 IEEE.

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