Fluid locomotion and trajectory planning for shape-changing robots

by Mason, Richard J.

Abstract (Summary)
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. This doctoral work was performed by Richard Mason at the California Institute of Technology. My thesis advisor was Professor Joel W. Burdick
Bibliographical Information:

Advisor:Richard Murray; Joel W. Burdick; Eric Antonnson; T.Y. Wu

School:California Institute of Technology

School Location:USA - California

Source Type:Master's Thesis

Keywords:mechanical engineering


Date of Publication:06/17/2002

© 2009 All Rights Reserved.