CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
2017-12
Conference NameProceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Source Publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Issue9781538637418
Pages141-146
Conference Date2017-12-5
Conference Place澳门
Abstract

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.

KeywordRobotic dolphin
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22357
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding Author吴正兴
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
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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