Living organisms routinely navigate their surroundings in search of better conditions, more
food, or to avoid predators. Typically, animals do so by integrating sensory cues from the …

BOCOP - A collection of examples Page 1 ISSN 0249-6399 ISRN INRIA/RR--8053--FR+ENG
RESEARCH REPORT N 8053 September 2012 Project-Teams Commands BOCOP - A …

The inertialess fluid–structure interactions of active and passive inextensible filaments and
slender-rods are ubiquitous in nature, from the dynamics of semi-flexible polymers and …

In this paper, we present a set of geometric principles for understanding and optimizing the
gaits of drag-dominated kinematic locomoting systems. For systems with two shape …

We consider the simulation of slender structures immersed in a three-dimensional (3D) flow.
By exploiting the special geometric configuration of the slender structures, this particular …

Micron-scale swimmers move in the realm of negligible inertia, dominated by viscous drag
forces. In this paper, we formulate the leading-order dynamics of a slender multi-link (N-link) …

In this paper, we present a geometric variational algorithm for optimizing the gaits of
kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics …

Robotic locomotion typically involves using gaits-periodic changes of kinematic shape,
which induce net motion of the body in a desired direction. An example is robotic …

In this paper we identify optimal swimming strategies for drag-dominated swimmers with a
passive elastic joint. We use resistive force theory to obtain the dynamics of the system. We …

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 …