We study self-propelled stokesian robots composed of assemblies of balls, in dimensions 2 and 3, and prove that they are able to control their position and orientation. This is a result of controllabthty, and its proof relies on applying Chow's theorem in an analytic framework, similar to what has been done in  for an axisymmetric system swimming along the axis of symmetry. We generalize the analyticity result given in  to the situation where the swimmers can move either in a plane or in three-dimensional space, hence experiencing also rotations. We then focus our attention on energetically optimal strokes, which we are able to compute numerically. Some examples of computed optimal strokes are discussed in detail.
|Titolo:||Optimally swimming stokesian robots|
|Autori:||François Alouges; Antonio DeSimone; Heltai L; Aline Lefebvre; Benoit Merlet|
|Rivista:||DISCRETE AND CONTINUOUS DYNAMICAL SYSTEMS. SERIES B.|
|Data di pubblicazione:||2013|
|Digital Object Identifier (DOI):||10.3934/dcdsb.2013.18.1189|
|Appare nelle tipologie:||1.1 Journal article|