Optimal control of a swimming robot based on Purcell's microswimmer model
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2608.17455v2 Announce Type: replace-cross Abstract: Purcell's swimmer is a well-known planar model of a swimming microorganism, governed by low Reynolds number hydrodynamics, which is comprised of three rigid links connected by actuated rotary joints. This model has been analyzed as a robotic locomotion system governed by first-order nonlinear dynamics with a periodic input (gait) of the two joint angles.