CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Source PublicationADVANCED ROBOTICS
2009
Volume23Issue:10Pages:1299-1313
SubtypeArticle
AbstractThis 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.
KeywordBio-inspired Robots Dolphin-like Swimming Dynamics And Control Multibody Dynamics Locomotion Control
WOS HeadingsScience & Technology ; Technology
WOS KeywordFOILS
Indexed BySCI
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000269928200005
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3438
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu Junzhi
Recommended Citation
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.
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