Fluid Locomotion and Trajectory Planning for Shape-Changing Robots

Author: Mason, Richard James

Year: 2003

Degree: Dissertation (Ph.D.)

Advisor: Burdick, Joel Wakeman

Committee Members: Burdick, Joel Wakeman; Antonsson, Erik K.; Murray, Richard M.; Wu, Theodore Yao-tsu

Option: Mechanical Engineering

DOI: 10.7907/MFM1-0866

Abstract

Motivated by considerations of shape changing propulsion of underwater robotic vehicles, I analyze the mechanics of deformable bodies operating in an ideal fluid. I give particular attention to fishlike robots which may be considered as one or more flexing or oscillating hydrofoils. I then describe methods of planning trajectories for a fishlike robot or any other sort of robot whose locomotion has a periodic or quasi-periodic nature.

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