CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Development of a Fast-Swimming Dolphin Robot Capable of Leaping
Yu, Junzhi; Su, Zongshuai; Wu, Zhengxing; Tan, Min
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2016-10-01
Volume21Issue:5Pages:2307-2316
SubtypeArticle
AbstractIt 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°.
KeywordBioinspired Robot Control Engineering Dolphin Robot Leaping Minimum Exit Speed
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TMECH.2016.2572720
WOS KeywordFISH ; OPTIMIZATION ; PERFORMANCE ; MANEUVERS ; TRACKING ; DESIGN ; SPEEDS ; MOTION
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000382472600010
Citation statistics
Cited Times:17[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12622
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
Recommended Citation
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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