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Mechanical design and motion control of a biomimetic robotic dolphin
Yu, Junzhi; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Hyan
2007
发表期刊ADVANCED ROBOTICS
卷号21期号:3-4页码:499-513
文章类型Article
摘要This paper addresses the design, construction and control issues of a novel biomimetic robotic dolphin equipped with mechanical flippers, based on an engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of a rigid anterior body, a flexible rear body and an oscillating fluke. The dorsoventral movement of the tail produces the thrust and bending of the anterior body in the horizontal plane enables turning maneuvers. A dual-microcontroller structure is adopted to drive the oscillating multi-link rear body and the mechanical flippers. Experimental results primarily confirm the effectiveness of the dolphin-like movement in propulsion and maneuvering.
关键词Biomimetics Swimming Robot Robotic Dolphin Propulsive Model Motion Control
WOS标题词Science & Technology ; Technology
关键词[WOS]FISH ; PERFORMANCE ; LOCOMOTION
收录类别SCI
语种英语
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000244787100012
引用统计
被引频次:30[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/173211/9458
专题09年以前成果
作者单位1.Chinese Acad Sci, Inst Automat, Beijing 100080, Peoples R China
2.Peking Univ, Dept Mech & Engn Sci, Beijing 100871, Peoples R China
推荐引用方式
GB/T 7714
Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,et al. Mechanical design and motion control of a biomimetic robotic dolphin[J]. ADVANCED ROBOTICS,2007,21(3-4):499-513.
APA Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,Wang, Long,&Huo, Hyan.(2007).Mechanical design and motion control of a biomimetic robotic dolphin.ADVANCED ROBOTICS,21(3-4),499-513.
MLA Yu, Junzhi,et al."Mechanical design and motion control of a biomimetic robotic dolphin".ADVANCED ROBOTICS 21.3-4(2007):499-513.
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