On the mobility and efficiency of mechanical systems
ESAIM: Control, Optimisation and Calculus of Variations, Tome 13 (2007) no. 4, pp. 657-668.

It is shown that self-locomotion is possible for a body in euclidian space, provided its dynamics corresponds to a non-quadratic hamiltonian, and that the body contains at least 3 particles. The efficiency of the driver of such a system is defined. The existence of an optimal (most efficient) driver is proved.

DOI : 10.1051/cocv:2007034
Classification : 37J50, 37K25, 70H33
Mots-clés : lagrangian mechanics, efficiency, self-locomotion 
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Wolansky, Gershon. On the mobility and efficiency of mechanical systems. ESAIM: Control, Optimisation and Calculus of Variations, Tome 13 (2007) no. 4, pp. 657-668. doi : 10.1051/cocv:2007034. http://archive.numdam.org/articles/10.1051/cocv:2007034/

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