• Corpus ID: 14896803

Modeling and frequency domain analysis of nonlinear compliant joints for a passive dynamic swimmer

  title={Modeling and frequency domain analysis of nonlinear compliant joints for a passive dynamic swimmer},
  author={Juan Pablo Carbajal and Rafael Suzuki Bayma and Marc Ziegler and Zi Qiang Lang},
In this paper we present the study of the mathematical model of a real life joint used in an underwater robotic fish. Fluid-structure interaction is utterly simplified and the motion of the joint is approximated by D\"uffing's equation. We compare the quality of analytical harmonic solutions previously reported, with the input-output relation obtained via truncated Volterra series expansion. Comparisons show a trade-off between accuracy and flexibility of the methods. The methods are discussed… 

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