Development of a novel robotic jellyfish based on mechanical structure drive and barycenter adjustment
Li, Xiangbin; Yu, Junzhi
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Jellyfish-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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13043
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
推荐引用方式
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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