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.

Keywords: lagrangian mechanics, efficiency, self-locomotion

@article{COCV_2007__13_4_657_0, author = {Wolansky, Gershon}, title = {On the mobility and efficiency of mechanical systems}, journal = {ESAIM: Control, Optimisation and Calculus of Variations}, pages = {657--668}, publisher = {EDP-Sciences}, volume = {13}, number = {4}, year = {2007}, doi = {10.1051/cocv:2007034}, mrnumber = {2351396}, zbl = {1123.37027}, language = {en}, url = {http://archive.numdam.org/articles/10.1051/cocv:2007034/} }

TY - JOUR AU - Wolansky, Gershon TI - On the mobility and efficiency of mechanical systems JO - ESAIM: Control, Optimisation and Calculus of Variations PY - 2007 SP - 657 EP - 668 VL - 13 IS - 4 PB - EDP-Sciences UR - http://archive.numdam.org/articles/10.1051/cocv:2007034/ DO - 10.1051/cocv:2007034 LA - en ID - COCV_2007__13_4_657_0 ER -

%0 Journal Article %A Wolansky, Gershon %T On the mobility and efficiency of mechanical systems %J ESAIM: Control, Optimisation and Calculus of Variations %D 2007 %P 657-668 %V 13 %N 4 %I EDP-Sciences %U http://archive.numdam.org/articles/10.1051/cocv:2007034/ %R 10.1051/cocv:2007034 %G en %F COCV_2007__13_4_657_0

Wolansky, Gershon. On the mobility and efficiency of mechanical systems. ESAIM: Control, Optimisation and Calculus of Variations, Volume 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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