A three-dimensional model for the dynamics and hydrodynamics of rowing boats

This paper proposes a new model describing the dynamics of a rowing boat for general three-dimensional motions. The complex interaction between the different components of the rowers oars boat system is analysed and reduced to a set of ordinary differential equations governing the rigid motion along the six degrees of freedom. To treat the unstable nature of the physical problem, a rather simple (but effective) control model is included, which mimics the main active control techniques adopted by the rowers during their action.