Preliminary development of a biomimetic amphibious robot capable of multi-mode motion
文献类型：会议论文
| 作者 | Yang, Qinghai; Yu, Junzhi ; Tan, Min; Wang, Weibing
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| 出版日期 | 2007 |
| 会议名称 | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO |
| 会议日期 | December 15, 2007 - December 18, 2007 |
| 会议地点 | Yalong Bay, Sanya, China |
| 关键词 | Amphibious robot multi-mode biomimetics fish-like swimming motion control |
| 通讯作者 | Yang, Qinghai |
| 英文摘要 | This paper presents the mechatronic issues of an amphibious robot capable of multi-mode motion, entirely inspired by some impressive propulsion solutions offered by the Nature. Considering that the oscillating fin utilized by fishes and cetaceans is an efficient propulsive mode under water and wheel is another formidable opponent on ground, a multi-purpose, amphibious propulsive mechanism that combines carangiform or dolphin-like swimming and wheel-like motions is designed. Based on the module-based structure, the robot is composed of a head, multiple identical propelling-units, and a flapping foil, which allows for flexible propulsion, reliable maintenance, as well as scalable fabrication. Further, an ARM-based embedded control system is designed and corresponding motion control algorithms are addressed. Preliminary experiments with the prototype Anally validate the effectiveness of the multi-mobility mechanism and control. |
| 会议录 | IEEE International Conference on Robotics and Biomimetics
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| 源URL | [http://ir.ia.ac.cn/handle/173211/13067]  |
| 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 | Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2) Machine and Electricity Engineering College, Shihezi University, Xinjiang Uygur Autonomous Region 832003, China |
| 推荐引用方式 GB/T 7714 | Yang, Qinghai,Yu, Junzhi,Tan, Min,et al. Preliminary development of a biomimetic amphibious robot capable of multi-mode motion[C]. 见:2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. Yalong Bay, Sanya, China. December 15, 2007 - December 18, 2007. |
入库方式： OAI收割
来源：自动化研究所
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