Fast Dynamics of an Eel-Like Robot—Comparisons With Navier–Stokes Simulations

@article{Boyer2008FastDO,
  title={Fast Dynamics of an Eel-Like Robot—Comparisons With Navier–Stokes Simulations},
  author={Fr{\'e}d{\'e}ric Boyer and Mathieu Porez and Alban Leroyer and Michel Visonneau},
  journal={IEEE Transactions on Robotics},
  year={2008},
  volume={24},
  pages={1274-1288}
}
This paper proposes a dynamic model of the swim of elongated fish suited to the online control of biomimetic eel-like robots. The approach can be considered as an extension of the original reactive ldquolarge elongated body theoryrdquo of Lighthill to the 3-D self-propulsion to which a resistive empirical model has been added. While all the mathematical fundamentals have been detailed by Boyer . (http://www.irccyn.ec-nantes.fr/hebergement/Publications/2007/3721.pdf, 2007), this paper… CONTINUE READING

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