Geometric Swimming at Low and High Reynolds Numbers Public Deposited

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This is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE-Institute of Electrical and Electronics Engineers and can be found at:  http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8860. ©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

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  • 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.
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  • 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
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