Towards a miniature self-propelled jellyfish-like swimming robot
Yu, Junzhi1,2; Xiao, Jundong1; Li, Xiangbin1; Wang, Weibing2
2016-10-07
发表期刊INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
卷号13期号:5页码:1-9
文章类型Article
摘要Jellyfish uses jet propulsion to achieve a diversity of propulsion modes in the water. In this article, a miniature jellyfish-inspired swimming robot is designed and built, which is capable of executing horizontal and vertical propulsion and maneuvers. In order to imitate the jellyfish in terms of morphology and kinematics, the robotic jellyfish is designed to be comprised of a streamlined head, a cavity shell, four separate drive units with bevel gears, and a soft outer skin encasing the drive units. A combination of four six-bar linkage mechanisms that are centrally symmetric is adopted as the driver to regulate the phases of contraction and relaxation of the bell-shaped body. Furthermore, a triangle wave generator is incorporated to generate rhythmic drive signals, which is implemented on the microcontroller. Through independent and coordinated control of the four drive units, the robotic jellyfish is able to replicate various propulsion modes similar to real jellyfish. Aquatic tests on the actual robot verify the effectiveness of the formed design scheme along with the proposed control methods.
关键词Bioinspired Robot Soft Robot Robotic Jellyfish Motion Control Swimming
WOS标题词Science & Technology ; Technology
DOI10.1177/1729881416666796
关键词[WOS]FISH ; LOCOMOTION ; HYDRODYNAMICS ; PERFORMANCE ; ACTUATORS ; DYNAMICS ; JET
收录类别SCI
语种英语
项目资助者National Science Foundation of China(61375102 ; Beijing Natural Science Foundation(4161002) ; National Defense Science and Technology Innovation Fund of Chinese Academy of Sciences(CXJJ- 16M110) ; State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources(LAPS16006) ; 61333016 ; 61633020 ; 61573226)
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000394807600004
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/13088
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Yu, Junzhi
作者单位1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
2.Shihezi Univ, Machine & Elect Engn Coll, Shihezi, Peoples R China
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Yu, Junzhi,Xiao, Jundong,Li, Xiangbin,et al. Towards a miniature self-propelled jellyfish-like swimming robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13(5):1-9.
APA Yu, Junzhi,Xiao, Jundong,Li, Xiangbin,&Wang, Weibing.(2016).Towards a miniature self-propelled jellyfish-like swimming robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13(5),1-9.
MLA Yu, Junzhi,et al."Towards a miniature self-propelled jellyfish-like swimming robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13.5(2016):1-9.
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