CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot
Yu Junzhi; Su Zongshuai; Wang Ming; Tan Min; Zhang Jianwei
Source PublicationIEEE TRANSACTIONS ON ROBOTICS
2012-04-01
Volume28Issue:2Pages:318-329
SubtypeArticle
AbstractThis 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.
KeywordBioinspired Robot Dolphin Robot Dolphin Swimming Pitch Turn Turn Control
WOS HeadingsScience & Technology ; Technology
WOS KeywordPERFORMANCE ; MOVEMENTS ; CETACEANS ; MECHANISM ; FISH
Indexed BySCI
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000302505100004
Citation statistics
Cited Times:35[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3482
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,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.
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