Dolphin-like swimming modeling for a biomimetic amphibious robot
Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min; Zhang Jianwei
2011
会议名称18th IFAC World Congress
会议录名称Proceedings of the 18th IFAC World Congress
会议日期2011.08
会议地点Milano, Italy
摘要This 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.
关键词Modeling And Control Dolphin Hydrodynamics Amphibious Robot Gait Control
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13053
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Ding Rui,Yu Junzhi,Yang Qinghai,et al. Dolphin-like swimming modeling for a biomimetic amphibious robot[C],2011.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Ding Rui]的文章
[Yu Junzhi]的文章
[Yang Qinghai]的文章
百度学术
百度学术中相似的文章
[Ding Rui]的文章
[Yu Junzhi]的文章
[Yang Qinghai]的文章
必应学术
必应学术中相似的文章
[Ding Rui]的文章
[Yu Junzhi]的文章
[Yang Qinghai]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。