3-D motion analysis and implementation of a developed gliding robotic dolphin

doi:10.1109/ROBIO49542.2019.8961775

	3-D motion analysis and implementation of a developed gliding robotic dolphin
	Wang Jian(王健); Wu Zhengxing; Liu Jincun; Tan Min; Yu Junzhi
	2019
会议名称	IEEE International Conference on Robotics and Biomimetics
会议日期	2019年12月
会议地点	Dali, China
摘要	This paper investigates the three-dimensional (3-D) maneuverability of a gliding robotic dolphin through analyzing the horizontal and vertical motions. Concretely, in order to improve the performance in the horizontal plane, the gliding robotic dolphin is developed with a rudder installed on its belly, and the 3-D full-state dynamic model is derived briefly. By setting two typical body and/or caudal fin (BCF)-based and three typical median and/or paired fin (MPF)-based turning patterns, the turning performances are revealed and analyzed. With regard to the vertical plane, a novel finite state machine framework is proposed to realize the vertical downward action. Finally, extensive experiments involving the turning and vertical motions are conducted to illustrate and analyze the 3-D maneuverability, which provides valuable guidance for the real-world applications of the gliding robotic dolphin.
DOI	10.1109/ROBIO49542.2019.8961775
收录类别	EI
语种	英语
七大方向——子方向分类	智能机器人
引用统计
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/44439
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences 2.the School of Artificial Intelligence, University of Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Wang Jian,Wu Zhengxing,Liu Jincun,et al. 3-D motion analysis and implementation of a developed gliding robotic dolphin[C],2019.

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