Development and control of dolphin-like underwater vehicle
Hu, Yonghui1; Wang, Long1; Yu, Junzhi2; Huo, Jiyan1; Jia, Yingmin3
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
专题复杂系统管理与控制国家重点实验室_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.
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