CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Mechatronic design and implementation of a novel gliding robotic dolphin
Wu, Zhengxing 1; Yu, Junzhi 1; Yuan, Jun 1; Tan, Min 1; Zhang, Jianwei 2
Conference NameIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Source Publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Conference DateDecember 6, 2015 - December 9, 2015
Conference PlaceZhuhai, China
AbstractThis paper provides an innovative design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the roboticdolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion due to the buoyancy-driven system. More importantly, the controllable pectoral fins and horizontal fluke can effectively complete the attitude adjustment, so traditional internal movable masses could be removed for saving a considerable space. Besides, the hydrodynamic analysis in the steady gliding motion is executed and hydrodynamic coefficients including lift, drag, and pitching moment are also obtained through Computational Fluid Dynamics (CFD) method. Finally, extensive experiments including dolphin-like swimming, spiraling motion and gently gliding motion illustrate the great locomotion ability of the developed gliding robotic dolphin.
Document Type会议论文
Affiliation1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
2. Department Informatics, University of Hamburg, Hamburg, Germany
Recommended Citation
GB/T 7714
Wu, Zhengxing ,Yu, Junzhi ,Yuan, Jun ,et al. Mechatronic design and implementation of a novel gliding robotic dolphin[C],2015.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wu, Zhengxing ]'s Articles
[Yu, Junzhi ]'s Articles
[Yuan, Jun ]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wu, Zhengxing ]'s Articles
[Yu, Junzhi ]'s Articles
[Yuan, Jun ]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wu, Zhengxing ]'s Articles
[Yu, Junzhi ]'s Articles
[Yuan, Jun ]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.