CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Mechanical design and implementation of a robotic dolphin with 3-DOF flippers
Wei Changming; Yu Junzhi
2011
Conference Name30th Chinese Control Conference
Source PublicationProceedings of the 30th Chinese Control Conference, CCC 2011
Pages4078-4082
Conference Date2011.07
Conference PlaceYantai, China
AbstractInspired 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.
Keyword3-dof Flippers  bio-inspired Robot  robotic Dolphin
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4877
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWei Changming
Recommended Citation
GB/T 7714
Wei Changming,Yu Junzhi. Mechanical design and implementation of a robotic dolphin with 3-DOF flippers[C],2011:4078-4082.
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