CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Development and control of dolphin-like underwater vehicle
Hu, Yonghui1; Wang, Long1; Yu, Junzhi2; Huo, Jiyan1; Jia, Yingmin3
2008
Conference Name2008 American Control Conference, ACC
Source PublicationAmerican Control Conference
Conference DateJune 11, 2008 - June 13, 2008
Conference PlaceSeattle, WA, United states
AbstractThis 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.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13062
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorHu, Yonghui
Affiliation1. 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
Recommended Citation
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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