Citation
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. https://resolver.caltech.edu/CaltechETD:etd-05292003-160843
Abstract
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.
| 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): |
|
| Thesis Committee: |
|
| Defense Date: | 17 June 2002 |
| Record Number: | CaltechETD:etd-05292003-160843 |
| Persistent URL: | https://resolver.caltech.edu/CaltechETD:etd-05292003-160843 |
| DOI: | 10.7907/MFM1-0866 |
| Default Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. |
| ID Code: | 2235 |
| Collection: | CaltechTHESIS |
| Deposited By: | Imported from ETD-db |
| Deposited On: | 30 May 2003 |
| Last Modified: | 03 Dec 2022 00:38 |
Thesis Files
![[img]](https://thesis.library.caltech.edu/style/images/fileicons/application_pdf.png)
|
PDF (mason_thesis.pdf)
- Final Version
See Usage Policy. 4MB |
Repository Staff Only: item control page
