CASIA OpenIR  > 09年以前成果
Mechanical design and motion control of a biomimetic robotic dolphin
Yu, Junzhi; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Hyan
Source PublicationADVANCED ROBOTICS
2007
Volume21Issue:3-4Pages:499-513
SubtypeArticle
AbstractThis 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.
KeywordBiomimetics Swimming Robot Robotic Dolphin Propulsive Model Motion Control
WOS HeadingsScience & Technology ; Technology
WOS KeywordFISH ; PERFORMANCE ; LOCOMOTION
Indexed BySCI
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000244787100012
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9458
Collection09年以前成果
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100080, Peoples R China
2.Peking Univ, Dept Mech & Engn Sci, Beijing 100871, Peoples R China
Recommended Citation
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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