Turning analysis and its implementation of link-based dolphin-like robots

	Turning analysis and its implementation of link-based dolphin-like robots
	Yu, Junzhi1 ; Li, Y.F.2; Wang, Min1 ; Tan, Min1
	2008
会议名称	Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
会议日期	Sept. 2008
会议地点	Qingdao, China
摘要	This 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.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13057
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 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
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, Y.F.,Wang, Min,et al. Turning analysis and its implementation of link-based dolphin-like robots[C],2008.