CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Design and Simulation of a Robotic Jellyfish Based on Mechanical Structure Drive and Adjustment
Li Xiangbin; Yu Junzhi
2015
Conference NameChinese Control Conference (CCC)
Source Publicationthe 34th Chinese Control Conference (CCC)
Conference DateJuly 28-30, 2015
Conference PlaceHangzhou, China
AbstractThis paper presents a novel jellyfish-inspired swimming robot whose mechanical design, control algorithm, and motion analysis are discussed and manifested in detail. In consideration of few research on robotic jellyfish capable of three-dimensional movement with mechanical drive and actuator, we propose an improved design mainly featuring six-bar linkage mechanisms as the actuators and a barycenter adjustment mechanism as an attitude regulator. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and an elastic rubber skin around the drive units. Meanwhile a bio-inspired central pattern generators control model is imported. To validate the feasibility of the maneuverability with designed motion mechanism and free attitude regulation, dynamic analysis and simulation experiment are conducted. The obtained results show the conceived novel robotic jellyfish can accomplish all motion tasks desired.
KeywordRobotic Jellyfish Linkage Mechanisms Barycenter Adjustment Mechanism Simulation
DOI10.1109/ChiCC.2015.7260571
Indexed ByEI
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11738
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorLi Xiangbin
AffiliationInstitute of Automation, Chinese Academy of Sciences
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Li Xiangbin,Yu Junzhi. Design and Simulation of a Robotic Jellyfish Based on Mechanical Structure Drive and Adjustment[C],2015.
Files in This Item: Download All
File Name/Size DocType Version Access License
CCC2015Li.pdf(848KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Li Xiangbin]'s Articles
[Yu Junzhi]'s Articles
Baidu academic
Similar articles in Baidu academic
[Li Xiangbin]'s Articles
[Yu Junzhi]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Li Xiangbin]'s Articles
[Yu Junzhi]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: CCC2015Li.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.