This paper investigates the potential benefit of elastic energy storage in the propulsion of a swimming robot. A discussion of the hydrodynamic models of von Karman and Sears (1938) and Lighthill (1969, 1970) is presented and is followed by an analysis of the input power required for cases with and without elastic energy storage. It is concluded that the addition of linear springs to the system provides a means to reduce the energy required of the power supply. A transfer function for the system is also derived for purposes of controlling a swimming robot.


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    Title :

    Decreasing the energy costs of swimming robots through passive elastic elements


    Contributors:
    Harper, K.A. (author) / Berkemeier, M.D. (author) / Grace, S. (author)


    Publication date :

    1997


    Size :

    6 Seiten, 11 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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