CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Dolphin-like swimming modeling for a biomimetic amphibious robot
Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min; Zhang Jianwei
2011
Conference Name18th IFAC World Congress
Source PublicationProceedings of the 18th IFAC World Congress
Conference Date2011.08
Conference PlaceMilano, Italy
AbstractThis paper focuses on a dolphin-like swimming hydrodynamics problem for a biomimetic amphibious robot capable of both fish- and dolphin-like swimmingmodes. A Lagrangian reduction has been established in terms of rigid-body dynamics. For robust gait control, a central pattern generator-based approach is incorporated into the model serving as explicit joint angle control. Consequently, a simultaneous kinematics and dynamics system has been established to investigate the dolphin-like swimming. The rough comparisons between fish-and dolphin-like propulsion are very promising, which verify the effectiveness of the proposed model and further provide an insight into more efficient underwater propulsor.
KeywordModeling And Control Dolphin Hydrodynamics Amphibious Robot Gait Control
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13053
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
Ding Rui,Yu Junzhi,Yang Qinghai,et al. Dolphin-like swimming modeling for a biomimetic amphibious robot[C],2011.
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