Design and Analysis of a Bionic Gliding Robotic Dolphin

doi:10.3390/biomimetics8020151

	Design and Analysis of a Bionic Gliding Robotic Dolphin
	Zhang, Yang1,2 ; Wu, Zhengxing1,2 ; Wang, Jian1,2 ; Tan, Min1,2
发表期刊	BIOMIMETICS
	2023-06-01
卷号	8 期号:2 页码:13
通讯作者	Wu, Zhengxing(zhengxing.wu@ia.ac.cn)
摘要	In this paper, we focus on the design and analysis of a bionic gliding robotic dolphin. Inspired by natural dolphins, a novel bionic gliding robotic dolphin is developed. Different from the existing ones, the gliding robotic dolphin developed in this work is specially introduced with a yaw joint to connect its three oscillating joints to improve maneuverability in both dolphin-like swimming and gliding motion. Consequently, the gliding robotic dolphin can realize several flexible motion patterns under the coordination of its flippers, yaw joint, oscillating joints, and buoyancy-driven modular. Thereafter, relying on the Newton-Euler method, a hybrid-driven dynamic model is constructed to further analyze the propulsive performance in both dolphin-like swimming and gliding motions. Finally, various simulations and experiments, including forward swimming, gliding, and turning in both dolphin-like swimming and gliding modes, are carried out to validate the effectiveness of the developed gliding robotic dolphin.
关键词	gliding robotic dolphin bionic robot underwater gliding motion dynamic model
DOI	10.3390/biomimetics8020151
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62203436] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62233001]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Engineering ; Materials Science
WOS类目	Engineering, Multidisciplinary ; Materials Science, Biomaterials
WOS记录号	WOS:001014319200001
出版者	MDPI
引用统计	被引频次：2[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/173211/53565
专题	多模态人工智能系统全国重点实验室
通讯作者	Wu, Zhengxing
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Zhang, Yang,Wu, Zhengxing,Wang, Jian,et al. Design and Analysis of a Bionic Gliding Robotic Dolphin[J]. BIOMIMETICS,2023,8(2):13.
APA	Zhang, Yang,Wu, Zhengxing,Wang, Jian,&Tan, Min.(2023).Design and Analysis of a Bionic Gliding Robotic Dolphin.BIOMIMETICS,8(2),13.
MLA	Zhang, Yang,et al."Design and Analysis of a Bionic Gliding Robotic Dolphin".BIOMIMETICS 8.2(2023):13.