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 novel robotic jellyfish based on mechanical structure drive and barycenter adjustment
Li, Xiangbin; Yu, Junzhi
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
AbstractJellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and barycenter adjustment mechanism. The robotic jellyfish relies on six-bar linkage mechanisms as actuators to realize the contraction-relaxation jet propulsion motion. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and a latex skin is enwraped around the drive units. To achieve free switch between different motion modes and transform attitude arbitrarily, a barycenter adjustment mechanism is embedded in the robot body. Through the upward, downward, balancing, as well as leaning-down motion of clump weights, the center of gravity of the robot can enwrap its center of buoyancy. Experimental tests on the actual robotic jellyfish verify the great 3D swimming ability.
Document Type会议论文
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Li, Xiangbin,Yu, Junzhi. Development of a novel robotic jellyfish based on mechanical structure drive and barycenter adjustment[C],2015.
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