CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Turning analysis and its implementation of link-based dolphin-like robots
Yu, Junzhi1; Li, Y.F.2; Wang, Min1; Tan, Min1
2008
Conference NameProceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
Conference DateSept. 2008
Conference PlaceQingdao, China
AbstractThis paper addresses the turning issues of a multilink dolphin-like robot with a pair of mechanical flippers. The propulsion and maneuvering of the robot depend on the dorsoventral oscillations of the tail and the flapping movements of the artificial flippers. Taking into account both mechanical structure and functional characteristics of the dolphin-like robot, we present a practical approach to perform planar turning maneuvers as well as its dynamic analysis. The characteristic parameters affecting turning performance primarily include deflection angle, turning radius, and turning rate, which are discussed with a comparison between the simulation results and the experiments on circular motions. Preliminary tests in a robotics context partly demonstrate the effectiveness of the proposed turning scheme.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13057
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
Affiliation1.Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O. Box 2728, Beijing 100190, China
2. Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong
Recommended Citation
GB/T 7714
Yu, Junzhi,Li, Y.F.,Wang, Min,et al. Turning analysis and its implementation of link-based dolphin-like robots[C],2008.
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