Geometric Swimming at Low and High Reynolds Numbers

Hatton, Ross L.; Choset, Howie

Citeable URL: https://ir.library.oregonstate.edu/concern/articles/p2676w12m

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Attribute Name	Values
Creator	Hatton, Ross L. Choset, Howie
Abstract	Several efforts have recently been made to relate the displacement of swimming three-link systems over strokes to geometric quantities of the strokes. In doing so, they provide powerful, intuitive representations of the bounds on a system’s locomotion capabilities and the forms of its optimal strokes or gaits. While this approach has been successful for finding net rotations, noncommutativity concerns have prevented it from working for net translations. Our recent results on other locomoting systems have shown that the degree of this noncommutativity is dependent on the coordinates used to describe the problem, and that it can be greatly mitigated by an optimal choice of coordinates. Here, we extend the benefits of this optimal-coordinate approach to the analysis of swimming at the extremes of low and high Reynolds numbers.
Resource Type	Article
DOI	https://doi.org/10.1109/TRO.2013.2251211
Date Available	2013-08-07T18:25:40+00:00
Date Issued	2013-06
Citation	Hatton, R.L.; Choset, H., "Geometric Swimming at Low and High Reynolds Numbers," Robotics, IEEE Transactions on , vol.29, no.3, pp.615,624, June 2013 doi: 10.1109/TRO.2013.2251211
Journal Title	IEEE Transactions on Robotics
Journal Volume	29
Journal Issue/Number	3
Keyword	Coordinate choice Swimming Locomotion Geometric mechanics Lie brackets
Rights Statement	Copyright Not Evaluated
Funding Statement (additional comments about funding)	This work was supported by the National Science Foundation under Grant CMMI 1000389.
Publisher	IEEE - Institute of Electrical and Electronics Engineers
Peer Reviewed	Yes
Language	English [eng]
Replaces	http://hdl.handle.net/1957/41647
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