Knowledge Commons of Institute of Automation,CAS
Quantifying the Leaping Motion Using a Self-Propelled Bionic Robotic Dolphin Platform | |
Junzhi Yu1,2,3; Tianzhu Wang1,4; Di Chen2; Yan Meng2 | |
发表期刊 | Biomimetics |
2023 | |
卷号 | 8页码:21 |
文章类型 | 期刊论文 |
摘要 | Kinematic analysis of leaping motions can provide meaningful insights into unraveling the efficient and agile propulsive mechanisms in dolphin swimming. However, undisturbed kinematic examination of live dolphins has been very scarce due to the restriction of close-up biological observation with a motion capture system. The main objective of this study is to quantify the leaping motion of a self-propelled bionic robotic dolphin using a combined numerical and experimental method. More specifically, a dynamic model was established for the hydrodynamic analysis of a changeable submerged portion, and experimental data were then employed to identify hydrodynamic parameters and validate the effectiveness. The effects of wave-making resistance were explored, indicating that there is a varying nonlinear relationship between power and speed at different depths. In addition, the wave-making resistance can be reduced significantly when swimming at a certain depth, which leads to a higher speed and less consumed power. Quantitative estimation of leaping motion is carried out, and the results suggest that with increase of the exiting velocity and angle, the maximum height of the center of mass (CM) increases as well; furthermore, a small exiting angle usually requires a much larger exiting velocity to achieve a complete exiting motion. These findings provide implications for optimizing motion performance, which is an integral part of underwater operations in complex aquatic environments. |
关键词 | robotic dolphin leaping motion dynamic model motion analysis |
学科门类 | 工学 ; 工学::控制科学与工程 |
DOI | https://doi.org/ 10.3390/biomimetics8010021 |
收录类别 | SCI |
语种 | 英语 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 是 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52417 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China 3.College of Electronics and Information Engineering, Guangdong Ocean University, Zhanjiang 524088, China 4.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Junzhi Yu,Tianzhu Wang,Di Chen,et al. Quantifying the Leaping Motion Using a Self-Propelled Bionic Robotic Dolphin Platform[J]. Biomimetics,2023,8:21. |
APA | Junzhi Yu,Tianzhu Wang,Di Chen,&Yan Meng.(2023).Quantifying the Leaping Motion Using a Self-Propelled Bionic Robotic Dolphin Platform.Biomimetics,8,21. |
MLA | Junzhi Yu,et al."Quantifying the Leaping Motion Using a Self-Propelled Bionic Robotic Dolphin Platform".Biomimetics 8(2023):21. |
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Biomimetics23-Quanti(1545KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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