|Mechanical design and motion control of biomimetic robotic dolphin|
|Yu, Junzhi; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Jiyan
|摘要||This 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.|
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.
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.
Yu, Junzhi,et al."Mechanical design and motion control of biomimetic robotic dolphin".Advanced Robotics 21.3-4(2007):499–513.