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self-locomotion

ESAIM: Control, Optimisation and Calculus of Variations (1)

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On the mobility and efficiency of mechanical systems
Gershon Wolansky
Journal:

ESAIM: Control, Optimisation and Calculus of Variations / Volume 13 / Issue 4 / October 2007

Published online by Cambridge University Press:

20 July 2007, pp. 657-668

Print publication:

October 2007
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It is shown that self-locomotion is possible for a body in Euclidian space,provided its dynamics corresponds to a non-quadratic Hamiltonian,and that the body contains at least 3 particles. The efficiencyof the driver of such a system is defined. The existence of anoptimal (most efficient) driver is proved.