|Flippers–based turning analysis and implementation of a dolphin robot|
|刘金存1,2; 吴正兴1; 喻俊志1; 曹志强1|
|Conference Name||Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)|
|Source Publication||2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017|
This paper studies three typical median and/or paired fin (MPF)-based turning patterns for dolphin robots including turning with only unilateral flipper, turning with braking, and pivot steering. These turning patterns are developed based on the asymmetric driving of the flippers. According to the authors’ knowledge, little literature has theoretically and experimentally evaluated and compared turning maneuverability for these three turning patterns. Firstly, to accomplish the three patterns on the same robotic platform, a bevel gear set is utilized to expand the movable range of the flippers from 180◦ to 360◦. Secondly, in terms of the slave movement control system, a Central Pattern Generator (CPG)-based controller is then built to govern the smooth locomotion of the robot. Moreover, a three-dimensional (3-D) dynamic model is derived to analytically assess the relationship between characteristic parameters and turning performance. Finally, extensive experiments including turning maneuvers and heading control are conducted to analyze the pros and cons of each pattern. This study demonstrates that these three typical turning patterns can meet different turning demands, which lay the groundwork for real-world applications.
|First Author Affilication||Institute of Automation, Chinese Academy of Sciences|
|Corresponding Author Affilication||Institute of Automation, Chinese Academy of Sciences|
|刘金存,吴正兴,喻俊志,等. Flippers–based turning analysis and implementation of a dolphin robot[C],2017:141-146.|
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