Optimal gaits for drag-dominated swimmers with passive elastic joints

Swimming gaits, passive drag and buoyancy of diving sperm whales Physeter macrocephalus.

Drag and buoyancy are two primary external forces acting on diving marine mammals. The strength of these forces modulates the energetic cost of movement and may influence swimming style (gait). Here we use a high-resolution digital tag to record depth, 3-D orientation, and sounds heard and produced by 23 deep-diving sperm whales in the Ligurian Sea and Gulf of Mexico. Periods of active thrustin...

optimal motion generating of nonholonomic manipulators with elastic revolute joints in generalized point-to-point task

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

Optimal Gaits For Compass-Like Biped Robot

With free walk velocity; the individual will naturally enlist the speed that will provide maximum energy efficiency. Inspired by this idea, we exploit a passivity based control strategy to study, the preferred walking gait of a compass-like biped robot. In fact, for any ground slope, we use a dynamic optimization of the mechanical cost which is proportional to the mechanical work in the system ...

Optimal Gaits for Dynamic Robotic Locomotion

This paper addresses the optimal control and selection of gaits in a class of dynamic locomotion systems that exhibit group symmetries. We study near-optimal gaits for an underwater eel-like robot, though the tools and analysis can be applied more broadly to a large family of nonlinear control systems with drift. The approximate solutions to the optimal control problem are found using a truncat...

Manipulability of Cooperating Robots with Passive Joints