Optimal control of a swimming robot based on Purcell's microswimmer model
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.17455v2 Announce Type: replace-cross Abstract: 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 actuated rotary joints. This model has been analyzed as a robotic locomotion system governed by first-order nonlinear dynamics with a periodic input (gait) of the two joint angles.