CASIA OpenIR
Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments
Wu, Zhengxing1; Yu, Junzhi1,2; Yuan, Jun1; Tan, Min1
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN1083-4435
2019-02-01
Volume24Issue:1Pages:260-270
Corresponding AuthorYu, Junzhi(yuanjun2012@ia.ac.cn)
AbstractThis paper presents the mechatronic design and implementation of a gliding robotic dolphin. To pursue both high maneuverability and long endurance simultaneously, the gliding robotic dolphin novelly integrates propulsion modes of real dolphins and traditional underwater gliders, through importing a practical buoyancy-driven mechanism on the basis of a bio-inspired robotic dolphin. The hybrid mechatronic design for actual application environments is first holistically provided. In comparison with traditional underwater gliders, the robotic dolphin particularly possesses a pair of controllable flippers and a flatten flukes, which can effectively assist in regulating the gliding attitude. Consequently, a full-state dynamic model with particular consideration of these controllable fins for three-dimensional (3-D) glidingmotion is established. Meanwhile, two typical controllers are built to realize these two propulsive modes, e.g., an active disturbance rejection control-based controller for the gliding motion and a central pattern generator-based controller for dolphin-like swimming. Numerical simulations are conducted to analyze 3-D gliding motions of the robotic dolphin as well as the gliding maneuvers based on the controllable fins. Finally, extensive experiments involving gently gliding motion and several dolphinlike propulsive modes illustrate the great locomotion ability of the developed gliding robotic dolphin and also validate the effectiveness of the formulated dynamic model. These hybrid motion modes offer promising prospects of robot applications in complex deep-sea conditions.
KeywordDolphin-like swimming gliding robotic dolphin modeling and control underwater robotics
DOI10.1109/TMECH.2019.2891290
WOS KeywordGLIDER ; DYNAMICS
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61603388] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61421004] ; Key Research Program of Frontier Sciences, CAS[QYZDJ-SSW-JSC004]
Funding OrganizationNational Natural Science Foundation of China ; Key Research Program of Frontier Sciences, CAS
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000458807900026
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/25019
Collection中国科学院自动化研究所
Corresponding AuthorYu, Junzhi
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,et al. Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(1):260-270.
APA Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,&Tan, Min.(2019).Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(1),260-270.
MLA Wu, Zhengxing,et al."Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.1(2019):260-270.
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