论文标题
具有被动弹性关节的拖放式游泳者的最佳步态
Optimal Gaits for Drag-dominated Swimmers with Passive Elastic Joints
论文作者
论文摘要
在本文中，我们确定了具有被动弹性关节的拖放式游泳者的最佳游泳策略。我们使用电阻力理论（RFT）来获得系统的动力学。然后，我们使用频域分析将被动关节的运动与驱动关节的运动相关联。我们将这种分析与以前的工作中介绍的几何框架的要素相结合，旨在识别拖放主导环境中系统的有用步态，以识别具有被动弹性关节的速度为主导的游泳者的速度最大化和效率最大的步态。
In this paper, we identify optimal swimming strategies for drag-dominated swimmers with a passive elastic joint. We use resistive force theory (RFT) to obtain the dynamics of the system. We then use frequency domain analysis to relate the motion of the passive joint to the motion of the actuated joint. We couple this analysis with elements of the geometric framework introduced in our previous work aimed at identifying useful gaits for systems in drag dominated environments, to identify speed-maximizing and efficiency-maximizing gaits for drag-dominated swimmers with a passive elastic joint.
