Knowledge Commons of Institute of Automation,CAS
Mechanical design and motion control of a biomimetic robotic dolphin | |
Yu, Junzhi; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Hyan | |
发表期刊 | ADVANCED ROBOTICS |
2007 | |
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 | |
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. |
条目包含的文件 | 条目无相关文件。 |
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