Mechanical design and motion control of biomimetic robotic dolphin
文献类型：期刊论文
| 作者 | Yu, Junzhi ; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Jiyan
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| 刊名 | Advanced Robotics
 |
| 出版日期 | 2007 |
| 卷号 | 21期号:3-4页码:499–513 |
| 关键词 | BIOMIMETICS SWIMMING ROBOT ROBOTIC DOLPHIN PROPULSIVE MODEL MOTION CONTROL |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13105]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,et al. Mechanical design and motion control of biomimetic robotic dolphin[J]. Advanced Robotics,2007,21(3-4):499–513. |
| APA | Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,Wang, Long,&Huo, Jiyan.(2007).Mechanical design and motion control of biomimetic robotic dolphin.Advanced Robotics,21(3-4),499–513. |
| MLA | Yu, Junzhi,et al."Mechanical design and motion control of biomimetic robotic dolphin".Advanced Robotics 21.3-4(2007):499–513. |
入库方式： OAI收割
来源：自动化研究所
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