Development of a Fast-Swimming Dolphin Robot Capable of Leaping
文献类型：期刊论文
| 作者 | Yu, Junzhi ; Su, Zongshuai; Wu, Zhengxing; Tan, Min
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2016-10-01 |
| 卷号 | 21期号:5页码:2307-2316 |
| 关键词 | Bioinspired robot control engineering dolphin robot leaping minimum exit speed |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | It remains a great challenge for a biomimetic dolphin robot to leap out of the water by reason of requirements for very high speed and exquisite motion control. In this paper, we estimate the minimum exit speed that allows the dolphin to completely leap out of the water, and for the first time, we build a self-contained leaping dolphin robot with commercially available actuators and power supply. To quantify the possible impact of the body length on the minimum exit speed during the leap, we employ a rigid body model rather than a particle model to numerically evaluate the leaping process. Furthermore, a robotic prototype intended for leap motions is created, with particular emphasis on streamlining and high-thrust tail propulsive mechanism designs in conjunction with a passive control strategy for the dorsoventral propulsion. Underwater tests on the untethered dolphin robotdemonstrate the effectiveness of the proposed methods and mechatronic designs. We found that the dolphin robot successfully performed leaps with a length-specific speed of over 2.3 body lengths per second, and an emergence angle ranging between 35 and 60°. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | FISH ; OPTIMIZATION ; PERFORMANCE ; MANEUVERS ; TRACKING ; DESIGN ; SPEEDS ; MOTION |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000382472600010 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12622]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,et al. Development of a Fast-Swimming Dolphin Robot Capable of Leaping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(5):2307-2316. |
| APA | Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,&Tan, Min.(2016).Development of a Fast-Swimming Dolphin Robot Capable of Leaping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(5),2307-2316. |
| MLA | Yu, Junzhi,et al."Development of a Fast-Swimming Dolphin Robot Capable of Leaping".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.5(2016):2307-2316. |
入库方式： OAI收割
来源：自动化研究所
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