Development of a Novel Robotic Jellyfish Based on Mechanical Structure Drive and Barycenter Adjustment

doi:10.1109/ROBIO.2015.7418777

	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
DOI	10.1109/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	复杂系统认知与决策实验室_先进机器人
通讯作者	Li Xiangbin
作者单位	Institute of Automation, Chinese Academy of Sciences
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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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