Dolphin-like swimming modeling for a biomimetic amphibious robot
文献类型：会议论文
| 作者 | Ding Rui; Yu Junzhi ; Yang Qinghai; Tan Min; Zhang Jianwei
|
| 出版日期 | 2011 |
| 会议名称 | 18th IFAC World Congress |
| 会议日期 | 2011.08 |
| 会议地点 | Milano, Italy |
| 关键词 | Modeling and control dolphin hydrodynamics amphibious robot gait control |
| 英文摘要 | This paper focuses on a dolphin-like swimming hydrodynamics problem for a biomimetic amphibious robot capable of both fish- and dolphin-like swimmingmodes. A Lagrangian reduction has been established in terms of rigid-body dynamics. For robust gait control, a central pattern generator-based approach is incorporated into the model serving as explicit joint angle control. Consequently, a simultaneous kinematics and dynamics system has been established to investigate the dolphin-like swimming. The rough comparisons between fish-and dolphin-like propulsion are very promising, which verify the effectiveness of the proposed model and further provide an insight into more efficient underwater propulsor. |
| 会议录 | Proceedings of the 18th IFAC World Congress
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13053]  |
| 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 | Ding Rui,Yu Junzhi,Yang Qinghai,et al. Dolphin-like swimming modeling for a biomimetic amphibious robot[C]. 见:18th IFAC World Congress. Milano, Italy. 2011.08. |
入库方式： OAI收割
来源：自动化研究所
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