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Open AccessFeature PaperArticle

Metachronal Swimming with Rigid Arms near Boundaries

1
Department of Mechanical Engineering, University of Hawaii at Manoa, Honolulu, HI 96822, USA
2
Department of Mathematics, University of Hawaii at Manoa, Honolulu, HI 96822, USA
*
Author to whom correspondence should be addressed.
Fluids 2020, 5(1), 24; https://doi.org/10.3390/fluids5010024
Received: 6 December 2019 / Revised: 17 January 2020 / Accepted: 10 February 2020 / Published: 14 February 2020
(This article belongs to the Special Issue Advances in Biological Flows and Biomimetics)
Various organisms such as crustaceans use their appendages for locomotion. If they are close to a confining boundary then viscous as opposed to inertial effects can play a central role in governing the dynamics. To study the minimal ingredients needed for swimming without inertia, we built an experimental system featuring a robot equipped with a pair of rigid slender arms with negligible inertia. Our results show that directing the arms to oscillate about the same time-averaged orientation produces no net displacement of the robot each cycle, regardless of any phase delay between the oscillating arms. The robot is able to swim if the arms oscillate asynchronously around distinct orientations. The measured displacement over time matches well with a mathematical model based on slender-body theory for Stokes flow. Near a confining boundary, the robot with no net displacement every cycle showed similar behavior, while the swimming robot increased in speed closer to the boundary. View Full-Text
Keywords: locomotion; low Reynolds number; bio-inspired robot locomotion; low Reynolds number; bio-inspired robot
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MDPI and ACS Style

Hayashi, R.; Takagi, D. Metachronal Swimming with Rigid Arms near Boundaries. Fluids 2020, 5, 24.

AMA Style

Hayashi R, Takagi D. Metachronal Swimming with Rigid Arms near Boundaries. Fluids. 2020; 5(1):24.

Chicago/Turabian Style

Hayashi, Rintaro; Takagi, Daisuke. 2020. "Metachronal Swimming with Rigid Arms near Boundaries" Fluids 5, no. 1: 24.

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