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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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
ROBIO2015Li.pdf(1825KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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