Modeling and control of a link-based dolphin-like robot capable of 3D movements
Yu, Junzhi1; Li, Youfu2; Hu, Yonghui3; Wang, Long3
2008
会议名称ICIRA 2008 First International Conference on Intelligent Robotics and Applications
会议日期Oct. 2008
会议地点Wuhan, China
摘要This paper focuses on a three-dimensional (3D) dynamic model for a self-propelled, multilink dolphin-like robot to predict the dynamic behaviors of the bio-inspired artificial dolphin system within the framework of multibody dynamics. The propulsive structure involves a multilink tail and an oscillating fluke cooperatively achieving dorsoventral oscillations, as well as a pair of mechanical flippers performing flapping movements, which can actually be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is further utilized to formulate the equations of the motion on the basis of a well-integrated kinematic and dynamic analysis of propulsive elements. A rough comparison between simulations and experiments on forward swimming and combined motions verifies the effectiveness of the formed model and corresponding locomotion control method.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13056
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Yu, Junzhi
作者单位1. Laboratory of Complex Systems and Intelligent Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2. Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong
3. Department of Mechanics and Space Technologies, Peking University, Beijing 100871, China
推荐引用方式
GB/T 7714
Yu, Junzhi,Li, Youfu,Hu, Yonghui,et al. Modeling and control of a link-based dolphin-like robot capable of 3D movements[C],2008.
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