Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements

	Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements
	Yu Junzhi; Li Y. F.; Hu Yonghui; Wang Long Wang
发表期刊	ADVANCED ROBOTICS
	2009
卷号	23 期号:10 页码:1299-1313
文章类型	Article
摘要	This paper presents a three-dimensional (3-D) dynamic model for a self-propelled, multilink dolphin-like robot to predict the dynamic behaviors of the bio-inspired artificial dolphin system within the framework of multibody dynamics. The propulsive structure mimicking dorsoventral motion includes a multilink tail and a flexibly oscillating fluke moving in coordination, as well as a pair of mechanical flippers performing flapping movements. This configuration can practically be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is then employed to formulate the equations of motion based on the well-integrated kinematic and dynamic analyses of propulsive elements. Several locomotor behaviors, via coordinated control of the propulsors, can be principally replicated and numerically evaluated. Comparative results between simulations and experiments on forward swimming and combined motions are shown to demonstrate the effectiveness of the created model and locomotion control methods for dolphin-like swimming.
关键词	Bio-inspired Robots Dolphin-like Swimming Dynamics And Control Multibody Dynamics Locomotion Control
WOS标题词	Science & Technology ; Technology
关键词[WOS]	FOILS
收录类别	SCI
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000269928200005
引用统计	被引频次：5[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/173211/3438
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Yu Junzhi
推荐引用方式 GB/T 7714	Yu Junzhi,Li Y. F.,Hu Yonghui,et al. Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements[J]. ADVANCED ROBOTICS,2009,23(10):1299-1313.
APA	Yu Junzhi,Li Y. F.,Hu Yonghui,&Wang Long Wang.(2009).Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements.ADVANCED ROBOTICS,23(10),1299-1313.
MLA	Yu Junzhi,et al."Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements".ADVANCED ROBOTICS 23.10(2009):1299-1313.