Mechatronic design and implementation of a novel gliding robotic dolphin

	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
	2015
会议名称	IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议录名称	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期	December 6, 2015 - December 9, 2015
会议地点	Zhuhai, China
摘要	This 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.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13041
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1. 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
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wu, Zhengxing ,Yu, Junzhi ,Yuan, Jun ,et al. Mechatronic design and implementation of a novel gliding robotic dolphin[C],2015.