Submitted Paper
Inserted: 3 feb 2026
Last Updated: 13 apr 2026
Pages: 11
Year: 2026
Abstract:
We study the effects of hydrodynamic interactions between a wall and the Purcell three-link swimmer in the twodimensional case. After deriving the equations of motion in a low Reynolds number regime using the Resistive Force Theory, we show controllability of the system by means of criteria from Geometric Control Theory. We investigate configurations that are nearly parallel to the wall and show alignment to the wall during the motion, even when using a gait that generates a rotation-free displacement in unbounded domains. Some numerical experiments illustrate the analytical results.
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