Mechanical design and implementation of a robotic dolphin with 3-DOF flippers

	Mechanical design and implementation of a robotic dolphin with 3-DOF flippers
	Wei Changming; Yu Junzhi
	2011
会议名称	30th Chinese Control Conference
会议录名称	Proceedings of the 30th Chinese Control Conference, CCC 2011
页码	4078-4082
会议日期	2011.07
会议地点	Yantai, China
摘要	Inspired by the characteristics of high maneuverability and agility of live dolphins, a novel robotic dolphin based on both morphology and locomotion bio-mimicry is developed. The robotic dolphin consists of four main components involving a streamlined head, a turning unit, a dorsoventral undulatory structure, and a tail fluke. The streamlined body in conjunction with a vivid dorsal fin, pectoral fins, and a caudal fin serves for morphology mimicry. Meanwhile, vertical fluke oscillations is designed for dolphin-like movements and a pair of 3-DOF (degree of freedom) flippers for up-and-down motions and braking. In particular, a set of separate turning unit is adopted to fulfil lateral turns. As a new research direction of bio-inspired robots, the dolphin robots with high efficiency, high maneuverability, and low noise will server as a mobile platform for underwater reconnaissance and environmental monitoring.
关键词	3-dof Flippers bio-inspired Robot robotic Dolphin
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4877
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wei Changming
推荐引用方式 GB/T 7714	Wei Changming,Yu Junzhi. Mechanical design and implementation of a robotic dolphin with 3-DOF flippers[C],2011:4078-4082.