Motion Control Strategies for a Repetitive Leaping Robotic Dolphin
Yu, Junzhi1,2; Wu, Zhengxing1,3; Su, Zongshuai1,3; Wang, Tianzhu1,3; Qi, Suwen4
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN1083-4435
2019-06-01
卷号24期号:3页码:913-923
摘要

It is challenging to emulate high-speed and short-duration surface piercing motions for a self-propelled robotic dolphin when it attempts to perform leaps in the context of bioinspired robotics. This paper presents motion control strategies for a repetitive leaping robotic dolphin serving as a platform for implementation and evaluation of modeling and control methods. First, an integrative model that takes account of both kinematics and dynamics is established to explore the possibility of leaping with an untethered swimming robot. Then, a novel high-speed swimming control strategy is then put forward based on the angle of attack theory, followed by the proposal of orientation control strategy. Finally, leaping tests on the actual robot verify the effectiveness of the conducted leaping analysis along with the proposed control strategies. Remarkably, the robot was able to conduct three continuous leaps back-to-back for the first time in a confined swimming pool. Results from this study also have implications for bioinspired design, where high speeds and maneuverability are required.

关键词Bioinspired aquatic robot fast swimming leaping motion control robotic dolphin
DOI10.1109/TMECH.2019.2908082
关键词[WOS]FISH
收录类别SCI
语种英语
资助项目Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103] ; Pre-research Fund of Equipments of China[61403120108] ; National Natural Science Foundation of China[61333016] ; National Natural Science Foundation of China[61725305] ; Beijing Natural Science Foundation[4161002] ; Beijing Natural Science Foundation[4161002] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61333016] ; Pre-research Fund of Equipments of China[61403120108] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103]
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000472193600003
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类智能机器人
国重实验室规划方向分类水下仿生机器人
是否有论文关联数据集需要存交
引用统计
被引频次:32[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/26016
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi; Qi, Suwen
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Peking Univ, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, BIC ESAT,Coll Engn, Beijing 100871, Peoples R China
3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
4.Shenzhen Univ, Sch Med, Dept Biomed Engn, Shenzhen 518060, Peoples R China
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
Yu, Junzhi,Wu, Zhengxing,Su, Zongshuai,et al. Motion Control Strategies for a Repetitive Leaping Robotic Dolphin[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(3):913-923.
APA Yu, Junzhi,Wu, Zhengxing,Su, Zongshuai,Wang, Tianzhu,&Qi, Suwen.(2019).Motion Control Strategies for a Repetitive Leaping Robotic Dolphin.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(3),913-923.
MLA Yu, Junzhi,et al."Motion Control Strategies for a Repetitive Leaping Robotic Dolphin".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.3(2019):913-923.
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