Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism

	Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism
	Xiao Jundong; Yu Junzhi
	2013
会议名称	Chinese Control Conference
会议录名称	32nd Chinese Control Conference, CCC 2013
会议日期	2013
会议地点	Xi'an, China
摘要	Inspired 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.
关键词	Bio-inspired Robot Robotic Jellyfish Multi-linkage Mechanism
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13048
专题	复杂系统认知与决策实验室_先进机器人
推荐引用方式 GB/T 7714	Xiao Jundong,Yu Junzhi. Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism[C],2013.