论文标题
球形柔性游泳者的建模，可控性和步态设计
Modelling, Controllability and Gait Design for a Spherical Flexible Swimmer
论文作者
论文摘要
本文讨论了球形柔性游泳者的建模，可控性和步态设计。我们首先提出了低雷诺数球形柔性游泳机制的运动学模型，并在径向和方位角方向上周期性表面变形。然后，通过表示表面变形作为有限的许多Legendre多项式的线性组合，将模型转换为有限的无漂移，控制主运动学形式。然后，进行了可控性分析，以便该游泳者得出结论，对于Legendre多项式的某些组合，游泳者在$ \ Mathbb {R}^3 $上本地可控。多项式系数的速率被认为是表面变形的控制输入。最后，利用游泳者的配置空间的结构组的亚洲性质，以合成基于曲率的步态，用于球形弹性游泳运动员和刚性链路游泳者。
This paper discusses modelling, controllability and gait design for a spherical flexible swimmer. We first present a kinematic model of a low Reynolds number spherical flexible swimming mechanism with periodic surface deformations in the radial and azimuthal directions. The model is then converted to a finite dimensional driftless, affine-in-control principal kinematic form by representing the surface deformations as a linear combination of finitely many Legendre polynomials. A controllability analysis is then done for this swimmer to conclude that the swimmer is locally controllable on $\mathbb{R}^3$ for certain combinations of the Legendre polynomials. The rates of the coefficients of the polynomials are considered as the control inputs for surface deformation. Finally, the Abelian nature of the structure group of the swimmer's configuration space is exploited to synthesize a curvature based gait for the spherical flexile swimmer and a rigid-link swimmer.
