CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Conference NameProceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Source Publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Issue9781509043644
Conference Date2016-12
Conference Place青岛
Abstract

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. 

KeywordRobotic dolphin motion control CPGs water quality monitoring
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22358
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWu ZX(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
Liu JC,Wu ZX,Yu JZ. Design and implementation of a robotic dolphin for water quality monitoring[C],2016.
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