Modeling and control of a link-based dolphin-like robot capable of 3D movements

	Modeling and control of a link-based dolphin-like robot capable of 3D movements
	Yu, Junzhi1 ; Li, Youfu 2; Hu, Yonghui 3; Wang, Long 3
	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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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.