Development of a Penguin-Inspired Swimming Robot With Air Lubrication System

doi:10.1109/TIE.2022.3172753

	Development of a Penguin-Inspired Swimming Robot With Air Lubrication System
	Pan, Jie 1; Zhou, Ziye 1; Wang, Jian2,3 ; Zhang, Pengfei2,3 ; Yu, Junzhi1
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN	0278-0046
	2023-03-01
卷号	70 期号:3 页码:2780-2789
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
摘要	In this article, a novel robotic penguin equipped with air lubrication system is developed. Through mimicking the agile movements of biological penguins, two degrees of freedom (DOF) wings including heaving and pitching motions, and a buoyancy-driven system for ascending and diving are particularly designed. Meanwhile, a complete 3-D dynamic model is established based on the Morrison equation, and the hydrodynamic parameters are determined with experimental results. Then, taking the bioinspired central pattern generators as the main actuation, the 3-D locomotion performance is discussed. More importantly, inspired by the leaping behavior of penguins, a unique air lubrication system is developed, and the obtained results verify the effectiveness of the mechatronic design. This work will offer valuable insight into the future development and control of next-generation versatile underwater vehicles capitalizing on the air lubrication mechanism.
关键词	3-D dynamic modeling air lubrication system motion control robotic penguin
DOI	10.1109/TIE.2022.3172753
关键词[WOS]	DRAG REDUCTION ; EMPEROR ; REALIZATION ; DESIGN ; FISH
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[T2121002] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[62003008]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000886844200060
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/50810
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
作者单位	1.Peking Univ, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Coll Engn,BIC ESAT, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Pan, Jie,Zhou, Ziye,Wang, Jian,et al. Development of a Penguin-Inspired Swimming Robot With Air Lubrication System[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(3):2780-2789.
APA	Pan, Jie,Zhou, Ziye,Wang, Jian,Zhang, Pengfei,&Yu, Junzhi.(2023).Development of a Penguin-Inspired Swimming Robot With Air Lubrication System.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(3),2780-2789.
MLA	Pan, Jie,et al."Development of a Penguin-Inspired Swimming Robot With Air Lubrication System".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.3(2023):2780-2789.