Abstract:An aquatic robot is proposed that moves due to the motion of an internal flywheel. The body of the robot represents a trimaran that consists of a capsule and three floats rigidly attached to it. The floats are submerged into the water and ensure that the capsule is afloat. The horizontal cross-section of each float has the shape of an airfoil. The body moves in a horizontal plane. The rotation axis of the internal flywheel is vertical. The control system makes the flywheel to oscillate, which results in oscill… Show more
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