Design and implementation of a novel biomimetic robotic jellyfish

	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	复杂系统认知与决策实验室_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.