CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism
Xiao Jundong; Yu Junzhi
2013
Conference NameChinese Control Conference
Source Publication32nd Chinese Control Conference, CCC 2013
Conference Date2013
Conference PlaceXi'an, China
AbstractInspired by the characteristics of high agility and stability of live jellyfish, a novel biomimetic robotic jellyfish based on multi-linkage mechanism is developed in this paper. The robotic jellyfish consists of a streamlined head, a cavity shell, four driving devices with bevel gears, four actuators based on multi-linkage mechanism, a regulating mechanism for adjusting barycenter and a skin. The four centrosymmetric actuators is used to imitate the locomotion of jellyfish, including the relaxation phase and the contraction phase. The mutually independent and coordinated control of the four actuators is able to achieve diversified movements such as swimming forward, pitching and yawing. As a new type of bio-inspired robots, the robotic jellyfish with high agility, stability and low noise, will serve as a platform for underwater reconnaissance and environmental monitoring.
KeywordBio-inspired Robot Robotic Jellyfish Multi-linkage Mechanism
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13048
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Xiao Jundong,Yu Junzhi. Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism[C],2013.
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