CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Towards Development of Link-Based Robotic Dolphin: Experiences and Lessons
Yu Junzhi; Li Y. F.; Hu Yonghui; Wang Long
2009
Conference NameIEEE International Conference on Robotics and Biomimetics
Source Publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 
Pages240-245
Conference Date2009.02
Conference PlaceBangkok, Thailand
AbstractThis paper focuses on technical endeavors to develop bio-inspired dolphin-like robots, involving dynamic modeling, mechanical design, as well as motion control. The inspiration and motivation comes from the remarkable swimming abilities of dolphins together with some promising applications in aquatic environments. The thrust in dolphin-like movements in a robotics context can be generated by the up-downmotioned fluke, while the turning is achieved by left-right-sided deflections. Based upon three generations of link-based robotic prototypes, experiences and lessons accumulated in the course of producing these accomplishments are summarized, which provide insight into unraveling the efficient and agile propulsive mechanisms associated with Gray's paradox. Comparative results are finally offered to demonstrate significant differences between biological dolphin and actual robots.
KeywordDynamic Modeling  bio-inspired Robots  robotic Dolphin  gray's Paradox  motion Control
Indexed ByISTP
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4909
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,Li Y. F.,Hu Yonghui,et al. Towards Development of Link-Based Robotic Dolphin: Experiences and Lessons[C],2009:240-245.
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