Development of a Novel Robotic Jellyfish Based on Mechanical Structure Drive and Barycenter Adjustment
Li Xiangbin; Yu Junzhi
2015
会议名称IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议录名称2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期December 6-9, 2015
会议地点Zhuhai, China
摘要Jellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and barycenter adjustment mechanism. The robotic jellyfish relies on six-bar linkage mechanisms as actuators to realize the contraction-relaxation jet propulsion motion. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and a latex skin is enwrapped around the drive units. To achieve free switch between different motion modes and transform attitude arbitrarily, a barycenter adjustment mechanism is embedded in the robot body. Through the upward, downward, balancing, as well as leaning-down motion of clump weights, the center of gravity of the robot can enwrap its center of buoyancy. Experimental tests on the actual robotic jellyfish verify the great 3D swimming ability.
关键词Robotic Jellyfish Barycenter Adjustment Underwater Experiment 3d Swimming Ability
DOI10.1109/ROBIO.2015.7418777
收录类别EI
引用统计
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/11739
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Li Xiangbin
作者单位Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Li Xiangbin,Yu Junzhi. Development of a Novel Robotic Jellyfish Based on Mechanical Structure Drive and Barycenter Adjustment[C],2015.
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