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Fluid locomotion and trajectory planning for shape-changing robots


Mason, Richard James (2003) Fluid locomotion and trajectory planning for shape-changing robots. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/MFM1-0866.


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

Item Type:Thesis (Dissertation (Ph.D.))
Subject Keywords:motion planning; swimming robots
Degree Grantor:California Institute of Technology
Division:Engineering and Applied Science
Major Option:Mechanical Engineering
Thesis Availability:Public (worldwide access)
Research Advisor(s):
  • Burdick, Joel Wakeman
Thesis Committee:
  • Burdick, Joel Wakeman (chair)
  • Antonsson, Erik K.
  • Murray, Richard M.
  • Wu, Theodore Yao-tsu
Defense Date:17 June 2002
Non-Caltech Author Email:mason (AT)
Record Number:CaltechETD:etd-05292003-160843
Persistent URL:
Default Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:2235
Deposited By: Imported from ETD-db
Deposited On:30 May 2003
Last Modified:21 Dec 2019 02:30

Thesis Files

PDF (mason_thesis.pdf) - Final Version
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