Motion control of fish-like swimming robots presents many challenges due to the
unstructured environment and unmodelled governing physics of the fluid–robot interaction …

The control and motion planning of bioinspired swimming robots is complicated by the fluid–
robot interaction, which is governed by a very high (infinite)-dimensional nonlinear system …

This paper is concerned with a nonholonomic system with parametric excitation—the
Chaplygin sleigh with time-varying mass distribution. A detailed analysis is made of the …

Theoretical guarantees of capture become complicated in the case of a swimming fish or fish
robot because of the oscillatory nature of the fish heading. Building on the connection …

Biomimetic underwater robots use lateral periodic oscillatory motion to propel forward, which
is seen in most fishes known as body-caudal fin (BCF) propulsion. The lateral oscillatory …

For a Chaplygin sleigh moving in the presence of weak friction, we present and investigate
two mechanisms of arising acceleration due to oscillations of an internal mass. In certain …

Multistability is an area of interest in robotics and locomotion because the ability to achieve
multiple configurations or generate multiple gaits allows a single robotic or mechanical …

This article investigates the appearance of periodic mechanical oscillations associated with
the transition between static and dynamic friction regimes. The study employs a mechanical …

Compliant mechanisms have been studied extensively as an alternative to traditional rigid
body design with advantages like part number reduction, compliance, and multistable …

In this work, we model the movement of a figure skater gliding on ice by the Chaplygin
sleigh, a classic pedagogical example of a nonholonomic mechanical system. The …