Towards a miniature self-propelled jellyfish-like swimming robot
文献类型：期刊论文
| 作者 | Yu, Junzhi1,2 ; Xiao, Jundong1; Li, Xiangbin1; Wang, Weibing2
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2016-10-07 |
| 卷号 | 13期号:5页码:1-9 |
| 关键词 | Bioinspired robot soft robot robotic jellyfish motion control swimming |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | Jellyfish uses jet propulsion to achieve a diversity of propulsion modes in the water. In this article, a miniature jellyfish-inspired swimming robot is designed and built, which is capable of executing horizontal and vertical propulsion and maneuvers. In order to imitate the jellyfish in terms of morphology and kinematics, the robotic jellyfish is designed to be comprised of a streamlined head, a cavity shell, four separate drive units with bevel gears, and a soft outer skin encasing the drive units. A combination of four six-bar linkage mechanisms that are centrally symmetric is adopted as the driver to regulate the phases of contraction and relaxation of the bell-shaped body. Furthermore, a triangle wave generator is incorporated to generate rhythmic drive signals, which is implemented on the microcontroller. Through independent and coordinated control of the four drive units, the robotic jellyfish is able to replicate various propulsion modes similar to real jellyfish. Aquatic tests on the actual robot verify the effectiveness of the formed design scheme along with the proposed control methods. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | FISH ; LOCOMOTION ; HYDRODYNAMICS ; PERFORMANCE ; ACTUATORS ; DYNAMICS ; JET |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000394807600004 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13088]  |
| 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 | 1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China 2.Shihezi Univ, Machine & Elect Engn Coll, Shihezi, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Xiao, Jundong,Li, Xiangbin,et al. Towards a miniature self-propelled jellyfish-like swimming robot[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2016,13(5):1-9. |
| APA | Yu, Junzhi,Xiao, Jundong,Li, Xiangbin,&Wang, Weibing.(2016).Towards a miniature self-propelled jellyfish-like swimming robot.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,13(5),1-9. |
| MLA | Yu, Junzhi,et al."Towards a miniature self-propelled jellyfish-like swimming robot".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 13.5(2016):1-9. |
入库方式： OAI收割
来源：自动化研究所
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