Efficient sliding locomotion of three-link bodies with inertia

Many previous studies of sliding locomotion have assumed that body inertia is negligible. Here we optimize the kinematics of a three-link body for efficient locomotion and include among the kinematic parameters the temporal period of locomotion, or equivalently, the body inertia. The optimal inertia is nonnegligible when the coefficient of friction for sliding transverse to the body axis is small. Inertia is also significant in a few cases with relatively large coefficients of friction for transverse and backward sliding, and here the optimal motions are less sensitive to the inertia parameter. The optimal motions seem to converge as the number of frequencies used is increased from one to four. For some of the optimal motions with significant inertia we find dramatic reductions in efficiency when the inertia parameter is decreased to zero. For the motions that are optimal with zero inertia, the efficiency decreases more gradually when we raise the inertia to moderate and large values.