Added Mass and Accuracy of the FF -SLIP Model for Legged Swimming

Max P. Austin; Linna Ma; Derek A. Vasquez; Brian Van Stratum; Jonathan E. Clark

ICRA 20250 citations

Added Mass and Accuracy of the FF -SLIP Model for Legged Swimming

Max P. Austin, Linna Ma, Derek A. Vasquez, Brian Van Stratum, Jonathan E. Clark

Abstract

This paper presents the addition of two models for added mass to the fluid-field spring-loaded inverted pendulum (FF-SLIP) Model for legged swimming. The relative ability of these models to capture the increased fluid forces due to virtual mass displacement is evaluated using a two-legged swimming robot, Tadpole. We show that a simple addition to our reduced-order model can predict fluid-leg interaction forces while remaining computationally efficient.

BibTeX

@inproceedings{icra2025_addedmassandaccu,
  title = {Added Mass and Accuracy of the FF -SLIP Model for Legged Swimming},
  author = {Max P. Austin and Linna Ma and Derek A. Vasquez and Brian Van Stratum and Jonathan E. Clark},
  booktitle = {ICRA 2025},
  year = {2025}
}