CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Modeling and simulation of porpoising for a multilink dolphin robot
Wang Yujia; Yu Junzhi; Zhang Jianwei
2012
Conference NameIEEE International Conference on Robotics and Biomimetics
Source Publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 
Conference Date2011.12
Conference PlacePhuket, Thailand
AbstractThis 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.
KeywordDolphins  mathematical Model  equations  robot Kinematics  acceleration  drag
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13054
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang Yujia
Recommended Citation
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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