Knowledge Commons of Institute of Automation,CAS
Design and implementation of a robotic dolphin for water quality monitoring | |
Liu JC(刘金存)1,2; Wu ZX(吴正兴)1; Yu JZ(喻俊志)1 | |
2016-12 | |
会议名称 | Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
会议录名称 | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
期号 | 9781509043644 |
会议日期 | 2016-12 |
会议地点 | 青岛 |
摘要 | This paper presents a novel mechanical design and multimodal locomotion control of a bio-inspired robotic dolphin for water quality monitoring. In order to obtain a better hydrodynamic performance, a robotic dolphin modeled after a killer whale is developed. Depending on its powerful propulsive posterior body and fluke, the robotic dolphin can realize fast and flexible dolphin-like swimming. Moreover, a pair of pectoral fins with a separate degree of freedom and an awing dorsal fin are designed for turning maneuvers. Besides, many onboard sensors including an inertial navigation system, GPS, a depth sensor, infrared sensors, and a replaceable water quality multiprobe are employed to implement autonomous water monitoring task. As for the control level, a Central Pattern Generators (CPGs) -based controller is utilized to realize multimodal locomotion including forward swimming, turning, diving and surfacing. Finally, both extensive experiments and field testing demonstrate the feasibility of the proposed bio-inspired water quality monitoring system. |
关键词 | Robotic dolphin motion control CPGs water quality monitoring |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/22358 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wu ZX(吴正兴) |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Liu JC,Wu ZX,Yu JZ. Design and implementation of a robotic dolphin for water quality monitoring[C],2016. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Design and implement(704KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论