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Construction and control of biomimetic robotic dolphin
Yu, Junzhi; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Jiyan
2006
Conference Name2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Source PublicationIEEE International Conference on Robotics and Automation, ICRA
Conference DateMay 15, 2006 - May 19, 2006
Conference PlaceOrlando, FL, United states
AbstractThis paper is concerned with the design, construction, and control of a biomimetic robotic dolphin equipped with mechanical flippers, based on a simplified engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of rigid anterior body, flexible rear body, and an oscillating fluke. The dorsoventral movement of the tail produces the thrust, and bending of the body in the horizontal plane enables turning maneuvers. A dual-microcontroller structure is proposed to drive the oscillating multi-link rear body and the mechanical flippers. Swimming performance of the prototype robotic dolphin is tested, and the results confirm the effectiveness of the dolphin-like movement in propulsion and maneuvering.
KeywordBiomimetics Swimming Robot Robotic Dolphin propulsive Model Motion Control.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13136
Collection个人空间
Corresponding AuthorYu, Junzhi
Affiliation Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
Recommended Citation
GB/T 7714
Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,et al. Construction and control of biomimetic robotic dolphin[C],2006.
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