Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot

	Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot
	Yu Junzhi; Su Zongshuai; Wang Ming; Tan Min; Zhang Jianwei
发表期刊	IEEE TRANSACTIONS ON ROBOTICS
	2012-04-01
卷号	28 期号:2 页码:318-329
文章类型	Article
摘要	This paper is devoted to the active turn control of a free-swimming multilinkdolphin-like robot, with emphasis on yaw and pitch controls. With full consideration of both mechanical configuration and propulsive principle of the robot consisting of a yaw joint and multiple pitch joints, a viable approach to perform yaw maneuvers via laterally directed biases is formed, providing an advantage in qualitative and quantitative assessment. Meanwhile, based on the feedback of the pitch angle measured by an onboard gyroscope, a closed-loop control strategy in dorsoventral motions is proposed to achieve agile and swift pitch maneuvers. More remarkably, two hybrid acrobatic stunts, i.e., frontflip and backflip, are first implemented on the physical robot. The latest results obtained demonstrate the effectiveness of the proposed methods. It is also confirmed that the dolphin robot achieves better performance for pitchmaneuvers than it does for yaw maneuvers, agreeing well with the biological observations.
关键词	Bioinspired Robot Dolphin Robot Dolphin Swimming Pitch Turn Turn Control
WOS标题词	Science & Technology ; Technology
关键词[WOS]	PERFORMANCE ; MOVEMENTS ; CETACEANS ; MECHANISM ; FISH
收录类别	SCI
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000302505100004
引用统计	被引频次：67[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/173211/3482
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,Su Zongshuai,Wang Ming,et al. Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot[J]. IEEE TRANSACTIONS ON ROBOTICS,2012,28(2):318-329.
APA	Yu Junzhi,Su Zongshuai,Wang Ming,Tan Min,&Zhang Jianwei.(2012).Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot.IEEE TRANSACTIONS ON ROBOTICS,28(2),318-329.
MLA	Yu Junzhi,et al."Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot".IEEE TRANSACTIONS ON ROBOTICS 28.2(2012):318-329.