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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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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
3-D motion analysis (996KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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