Modular design and initial gait study of an amphibian robotic turtle,
Low, K.H.; Zhou, Chunlin; Ong, T.W.; Yu, Junzhi; Low, K.H
2007
会议名称2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
会议录名称IEEE International Conference on Robotics and Biomimetics
会议日期December 15, 2007 - December 18, 2007
会议地点Yalong Bay, Sanya, China
摘要As another kind of the biomimetic underwater vehicles, a biologically inspired robotic turtle is studied and modeled. The modular design philosophy and construction of the prototype after a family of sea turtle - Cheloniidae is discussed. The dual-purpose robotic turtle is designed to imitate locomotion behaviors of Cheloniidae, both in water and on the land to achieve amphibian operations. Our motivation is to improve the design and performance of amphibian vehicles, which will have the reasonable speed and stable swimming ability like turtles. Studies have shown the high effectiveness of the turtle's underwater locomotion, whose thrust generated by the flapping foil-like flippers. The crawling and lift-based swimming gaits are analyzed and implemented on the prototype. The platform is being developed for the testing to be conducted in outdoor real environment.
关键词Biomimetic Robots Robotic Turtle Flapping Foil gait Study Amphibian Robot
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13069
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Low, K.H
作者单位 School of Mechanical and Aerospace Engineering, Nanyang Technological University (NTU), Singapore 639798, Singapore (2) Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O. Box 2728, Beijing 100080, China
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Low, K.H.,Zhou, Chunlin,Ong, T.W.,et al. Modular design and initial gait study of an amphibian robotic turtle,[C],2007.
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