Towards Development of Link-Based Robotic Dolphin: Experiences and Lessons

	Towards Development of Link-Based Robotic Dolphin: Experiences and Lessons
	Yu Junzhi; Li Y. F.; Hu Yonghui; Wang Long
	2009
会议名称	IEEE International Conference on Robotics and Biomimetics
会议录名称	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO
页码	240-245
会议日期	2009.02
会议地点	Bangkok, Thailand
摘要	This 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.
关键词	Dynamic Modeling bio-inspired Robots robotic Dolphin gray's Paradox motion Control
收录类别	ISTP
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4909
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Yu Junzhi
推荐引用方式 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.