A differentiable, strongly coupled fluid-robot simulator, derived from a single least-action principle, produces swimming gaits that transfer to a physical eel robot.
Linear-time dynamics using Lagrange mul- tipliers
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Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics
A differentiable, strongly coupled fluid-robot simulator, derived from a single least-action principle, produces swimming gaits that transfer to a physical eel robot.