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Modeling and control of a link-based dolphin-like robot capable of 3D movements
Yu, Junzhi1; Li, Youfu2; Hu, Yonghui3; Wang, Long3
Conference NameICIRA 2008 First International Conference on Intelligent Robotics and Applications
Conference DateOct. 2008
Conference PlaceWuhan, China
AbstractThis 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.
Document Type会议论文
Corresponding AuthorYu, Junzhi
Affiliation1. 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
Recommended Citation
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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