Modeling and simulation of porpoising for a multilink dolphin robot
Wang Yujia; Yu Junzhi; Zhang Jianwei
2012
会议名称IEEE International Conference on Robotics and Biomimetics
会议录名称2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 
会议日期2011.12
会议地点Phuket, Thailand
摘要This paper analytically analyzes the porpoising behavior of dolphins and other cetaceans in the context of bio-robotics. Based on the conventional assumption that porpoising saves energy at high speed, the "crossover" speed is recalculated. A dynamic model for a multilink dolphin-like robot within the framework of multibody dynamics is created. Simulations using the dynamic model have been extensively performed in MATLAB/Simulink. In terms of simulation results obtained, the primary assumption has been validated and a newly possible main cause of porpoising's energy economy is suggested that the route diversion action results in a significant speed increase while porpoising. Two contradictions between the observation and the theoretical prediction have been explained, agreeing well with the above finding.
关键词Dolphins  mathematical Model  equations  robot Kinematics  acceleration  drag
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13054
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Wang Yujia
推荐引用方式
GB/T 7714
Wang Yujia,Yu Junzhi,Zhang Jianwei. Modeling and simulation of porpoising for a multilink dolphin robot[C],2012.
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