Development and control of dolphin-like underwater vehicle

	Development and control of dolphin-like underwater vehicle
	Hu, Yonghui 1; Wang, Long 1; Yu, Junzhi2 ; Huo, Jiyan 1; Jia, Yingmin 3
	2008
会议名称	2008 American Control Conference, ACC
会议录名称	American Control Conference
会议日期	June 11, 2008 - June 13, 2008
会议地点	Seattle, WA, United states
摘要	This paper is concerned with prototype development and motion control of a dolphin-like underwater robot. The propulsion and maneuvering of the robotic dolphin are realized with the flapping motion of the mechanical flippers and the combined heaving and pitching motions of the fluke. Mechanical design and control of the flipper apparatus and the flexible tail mechanism are presented. Through coordinated control of the propulsors, several swimming movements are designed. Preliminary experimental results verify the effectiveness of the proposed design scheme.
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13062
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Hu, Yonghui
作者单位	1. Department of Mechanics and Space Technologies, College of Engineering, Peking University, Beijing 100871, China 2. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China 3. Seventh Research Division, Beihang University, Beijing 100083, China
推荐引用方式 GB/T 7714	Hu, Yonghui,Wang, Long,Yu, Junzhi,et al. Development and control of dolphin-like underwater vehicle[C],2008.