CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Mechanical design and motion control of biomimetic robotic dolphin
Yu, Junzhi; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Jiyan
Source PublicationAdvanced Robotics
2007
Volume21Issue:3-4Pages:499–513
AbstractThis paper addresses the design, construction and control issues of a novel biomimetic robotic dolphin equipped with mechanical flippers, based on an engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of a rigid anterior body, a flexible rear body and an oscillating fluke. The dorsoventral movement of the tail produces the thrust and bending of the anterior body in the horizontal plane enables turning maneuvers. A dual-microcontroller structure is adopted to drive the oscillating multi-link rear body and the mechanical flippers. Experimental results primarily confirm the effectiveness of the dolphin-like movement in propulsion and maneuvering.
KeywordBiomimetics Swimming Robot Robotic Dolphin Propulsive Model Motion Control
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13105
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
Recommended Citation
GB/T 7714
Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,et al. Mechanical design and motion control of biomimetic robotic dolphin[J]. Advanced Robotics,2007,21(3-4):499–513.
APA Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,Wang, Long,&Huo, Jiyan.(2007).Mechanical design and motion control of biomimetic robotic dolphin.Advanced Robotics,21(3-4),499–513.
MLA Yu, Junzhi,et al."Mechanical design and motion control of biomimetic robotic dolphin".Advanced Robotics 21.3-4(2007):499–513.
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