{"paper":{"title":"Exact isoholonomic motion of the planar Purcell's swimmer","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Debasish Chatterjee, Karmvir Singh Phogat, Ravi N. Banavar, Sudin Kadam","submitted_at":"2019-02-04T05:30:11Z","abstract_excerpt":"In this article we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the Discrete-time Pontryagin maximum principle. The 3-link Purcell's swimmer is a locomotion system moving in a low Reynolds number environment. The kinematics of the system evolves on a principal fiber bundle. A structure preserving discrete-time kinematic model of the system is obtained in terms of the local form of a discrete connection. An adapted version of the Discrete Maximum Principle on matrix Lie groups is then employed to come up with the necessary optimality conditio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1902.01038","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}