Design and implementation of a novel biomimetic robotic jellyfish
Xiao Jundong; Duan Jinghui; Yu Junzhi
2014
会议名称IEEE International Conference on Robotics and Biomimetics
会议录名称2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
会议日期2013
会议地点Shenzhen, China
摘要This paper deals with the design, construction, and motion control of a jellyfish-inspired swimming robot that uses jet propulsion for thrust generation. The robotic jellyfish consists of a streamlined head, a cavity shell, four separate drive units with bevel gears, as well as an elastic rubber skin around the drive units. In order to replicate the locomotion of jellyfish including a relaxation phase and a contraction phase, four six-bar linkage mechanisms that are centrally symmetric are adopted as the actuators. A triangular wave control algorithm is then proposed to produce desired control signals with an embedded controller. Through independent and coordinated control of the four drive units, the robotic jellyfish is capable of diverse propulsion and maneuvers like swimming forward, turning, and diving/surfacing. Aquatic experiments are further conducted to verify the proposed design and control methods. As a new type of bio-inspired robots, the robotic jellyfish will serve as an effective platform for underwater reconnaissance and environmental monitoring.
关键词Servomotor  robot Kinematics  actuators  propulsion  microcontrollers  cavity Resonators
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13050
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Xiao Jundong
推荐引用方式
GB/T 7714
Xiao Jundong,Duan Jinghui,Yu Junzhi. Design and implementation of a novel biomimetic robotic jellyfish[C],2014.
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