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Underwater locomotion from oscillatory shape deformations

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3 Author(s)
Vela, P.A. ; Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA ; Morgansen, K.A. ; Burdick, J.W.

This paper considers underwater propulsion that is generated by variations in body shape. We summarize and extend some of the emerging approaches for the uniform modeling and control of such underactuated systems. Two examples illustrate these ideas.

Published in:

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on  (Volume:2 )

Date of Conference:

10-13 Dec. 2002