Geometric Controllability of The Purcell's Swimmer and its Symmetrized   Cousin
  We analyse weak and strong controllability notions for the locomotion of the 3-link Purcell's swimmer, the simplest possible swimmer at low Reynolds number from a geometric framework. After revisiting a purely kinematic form of the equations, we apply an extension of Chow's theorem to analyze controllability in the strong and weak sense. Further, the connection form for the symmetric version of the Purcell's swimmer is derived, based on which, the controllability analysis utilizing the Abelian nature of the structure group is presented. The novelty in our approach is the usage of geometry and the principal fiber bundle structure of the configuration manifold of the system to arrive at strong and weak controllability notions. 
Sudin Kadam and Ravi Banavar
cs.SY math.OC