Self-propulsion of N-hinged 'Animats' at low Reynolds number
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2003
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Optimal locomotion of micro-organisms (on a small Reynolds number flow) can be regarded as a sub-riemannian geometry on a principal bundle with a mechanical connection. Aiming at robotic applications, flagella are modeled as concatenated line segments with variable hinge angles. As an example, we consider E. Purcell's 2-hinged animat [39], the simplest configuration capable to circumnvent Stokes flow reversibility.