Construction and control of biomimetic robotic dolphin
文献类型：会议论文
| 作者 | Yu, Junzhi ; Hu, Yonghui; Fan, Ruifeng; Wang, Long; Huo, Jiyan
|
| 出版日期 | 2006 |
| 会议日期 | May 15, 2006 - May 19, 2006 |
| 会议地点 | Orlando, FL, United states |
| 关键词 | Biomimetics Swimming Robot Robotic Dolphin propulsive Model Motion Control. |
| 英文摘要 | This paper is concerned with the design, construction, and control of a biomimetic robotic dolphin equipped with mechanical flippers, based on a simplified engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of rigid anterior body, flexible rear body, and an oscillating fluke. The dorsoventral movement of the tail produces the thrust, and bending of the body in the horizontal plane enables turning maneuvers. A dual-microcontroller structure is proposed to drive the oscillating multi-link rear body and the mechanical flippers. Swimming performance of the prototype robotic dolphin is tested, and the results confirm the effectiveness of the dolphin-like movement in propulsion and maneuvering. |
| 会议录 | IEEE International Conference on Robotics and Automation, ICRA
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13136]  |
| 专题 | 自动化研究所_个人空间 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | Center for Systems and Control, Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,et al. Construction and control of biomimetic robotic dolphin[C]. 见:. Orlando, FL, United states. May 15, 2006 - May 19, 2006. |
入库方式： OAI收割
来源：自动化研究所
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