Modeling and control of a link-based dolphin-like robot capable of 3D movements
文献类型：会议论文
| 作者 | Yu, Junzhi1 ; Li, Youfu2; Hu, Yonghui3; Wang, Long3
|
| 出版日期 | 2008 |
| 会议名称 | ICIRA 2008 First International Conference on Intelligent Robotics and Applications |
| 会议日期 | Oct. 2008 |
| 会议地点 | Wuhan, China |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper focuses on a three-dimensional (3D) dynamic model for a self-propelled, multilink dolphin-like robot to predict the dynamic behaviors of the bio-inspired artificial dolphin system within the framework of multibody dynamics. The propulsive structure involves a multilink tail and an oscillating fluke cooperatively achieving dorsoventral oscillations, as well as a pair of mechanical flippers performing flapping movements, which can actually be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is further utilized to formulate the equations of the motion on the basis of a well-integrated kinematic and dynamic analysis of propulsive elements. A rough comparison between simulations and experiments on forward swimming and combined motions verifies the effectiveness of the formed model and corresponding locomotion control method. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13056]  |
| 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. Laboratory of Complex Systems and Intelligent Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong 3. Department of Mechanics and Space Technologies, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Li, Youfu,Hu, Yonghui,et al. Modeling and control of a link-based dolphin-like robot capable of 3D movements[C]. 见:ICIRA 2008 First International Conference on Intelligent Robotics and Applications. Wuhan, China. Oct. 2008. |
入库方式： OAI收割
来源：自动化研究所
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