The process of swimming at the microscopic scale is successfully described as a finite-
dimensional, nonholonomic control system due to negligible inertia in the low-Reynolds …

A recent promising technique for robotic micro-swimmers is to endow them with a
magnetization and apply an external magnetic field to provoke their deformation. In this …

Optimal gait design is important for micro-organisms and micro-robots that propel
themselves in a fluid environment in the absence of external force or torque. The simplest …

With the continuing rapid development of artificial microrobots and active particles,
questions of microswimmer guidance and control are becoming ever more relevant and …

Active walls such as cilia and bacteria carpets generate background flows that can influence
the trajectories of microswimmers moving nearby. Recent advances in artificial magnetic …

In this article we provide a comparative geometric and numerical analysis of optimal strokes
for two different rigid links swimmer models at low Reynolds number: the copepod swimmer …

The objective of this article is to present the seminal concepts and techniques of Sub-
Riemannian geometry and Hamiltonian dynamics, complemented by adapted software to …

The Twistcar vehicle is a classic example of a nonholonomic dynamical system. The vehicle
model consists of two rigid links connected by an actuated rotary joint and supported by …

The controllability of a fully three-dimensional N-link swimmer is studied. After deriving the
equations of motion in a low Reynolds number fluid by means of Resistive Force Theory, the …

In this article, the model of swimming at low Reynolds number introduced by D. Takagi
(2015) to analyze the displacement of an abundant variety of zooplankton is used as a …