Development of a Fast-Swimming Dolphin Robot Capable of Leaping
Yu, Junzhi; Su, Zongshuai; Wu, Zhengxing; Tan, Min
2016-10-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号21期号:5页码:2307-2316
文章类型Article
摘要It remains a great challenge for a biomimetic dolphin robot to leap out of the water by reason of requirements for very high speed and exquisite motion control. In this paper, we estimate the minimum exit speed that allows the dolphin to completely leap out of the water, and for the first time, we build a self-contained leaping dolphin robot with commercially available actuators and power supply. To quantify the possible impact of the body length on the minimum exit speed during the leap, we employ a rigid body model rather than a particle model to numerically evaluate the leaping process. Furthermore, a robotic prototype intended for leap motions is created, with particular emphasis on streamlining and high-thrust tail propulsive mechanism designs in conjunction with a passive control strategy for the dorsoventral propulsion. Underwater tests on the untethered dolphin robotdemonstrate the effectiveness of the proposed methods and mechatronic designs. We found that the dolphin robot successfully performed leaps with a length-specific speed of over 2.3 body lengths per second, and an emergence angle ranging between 35 and 60°.
关键词Bioinspired Robot Control Engineering Dolphin Robot Leaping Minimum Exit Speed
WOS标题词Science & Technology ; Technology
DOI10.1109/TMECH.2016.2572720
关键词[WOS]FISH ; OPTIMIZATION ; PERFORMANCE ; MANEUVERS ; TRACKING ; DESIGN ; SPEEDS ; MOTION
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002 ; National Defense Science and Technology Innovation Fund of the Chinese Academy of Sciences(CXJJ-16M110) ; 61333016 ; 4161002) ; 61421004)
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000382472600010
引用统计
被引频次:8[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12622
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Yu, Junzhi
作者单位State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
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GB/T 7714
Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,et al. Development of a Fast-Swimming Dolphin Robot Capable of Leaping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(5):2307-2316.
APA Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,&Tan, Min.(2016).Development of a Fast-Swimming Dolphin Robot Capable of Leaping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(5),2307-2316.
MLA Yu, Junzhi,et al."Development of a Fast-Swimming Dolphin Robot Capable of Leaping".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.5(2016):2307-2316.
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