CASIA OpenIR  > 先进机器人控制团队
Motion Control Strategies for a Repetitive Leaping Robotic Dolphin
Yu, Junzhi1,2; Wu, Zhengxing1,3; Su, Zongshuai1,3; Wang, Tianzhu1,3; Qi, Suwen4
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN1083-4435
2019-06-01
Volume24Issue:3Pages:913-923
Corresponding AuthorYu, Junzhi(junzhi.yu@ia.ac.cn) ; Qi, Suwen(qisuwen@szu.edu.cn)
AbstractIt 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.
KeywordBioinspired aquatic robot fast swimming leaping motion control robotic dolphin
DOI10.1109/TMECH.2019.2908082
WOS KeywordFISH
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61333016] ; Beijing Natural Science Foundation[4161002] ; Pre-research Fund of Equipments of China[61403120108] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103]
Funding OrganizationNational Natural Science Foundation of China ; Beijing Natural Science Foundation ; Pre-research Fund of Equipments of China ; Key Research and Development and Transformation Project of Qinghai Province
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000472193600003
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/26016
Collection先进机器人控制团队
Corresponding AuthorYu, Junzhi; Qi, Suwen
Affiliation1.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
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
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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