Towards a miniature self-propelled jellyfish-like swimming robot

doi:10.1177/1729881416666796

	Towards a miniature self-propelled jellyfish-like swimming robot
	Yu, Junzhi1,2 ; Xiao, Jundong 1; Li, Xiangbin1 ; Wang, Weibing 2
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2016-10-07
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
DOI	10.1177/1729881416666796
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	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13088
专题	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	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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