Dolphin-like swimming modeling for a biomimetic amphibious robot

	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	复杂系统认知与决策实验室_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.