Development of a Fast-Swimming Dolphin Robot Capable of Leaping | |
Yu, Junzhi; Su, Zongshuai; Wu, Zhengxing; Tan, Min | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
2016-10-01 | |
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 |
DOI | 10.1109/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 | |
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 |
推荐引用方式 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. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Development of a Fas(1275KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论