Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments
文献类型：期刊论文
| 作者 | Wu, Zhengxing1 ; Yu, Junzhi1,2; Yuan, Jun1; Tan, Min1
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 2019-02-01 |
| 卷号 | 24期号:1页码:260-270 |
| 关键词 | Dolphin-like swimming gliding robotic dolphin modeling and control underwater robotics |
| ISSN号 | 1083-4435 |
| DOI | 10.1109/TMECH.2019.2891290 |
| 通讯作者 | Yu, Junzhi(yuanjun2012@ia.ac.cn) |
| 英文摘要 | This paper presents the mechatronic design and implementation of a gliding robotic dolphin. To pursue both high maneuverability and long endurance simultaneously, the gliding robotic dolphin novelly integrates propulsion modes of real dolphins and traditional underwater gliders, through importing a practical buoyancy-driven mechanism on the basis of a bio-inspired robotic dolphin. The hybrid mechatronic design for actual application environments is first holistically provided. In comparison with traditional underwater gliders, the robotic dolphin particularly possesses a pair of controllable flippers and a flatten flukes, which can effectively assist in regulating the gliding attitude. Consequently, a full-state dynamic model with particular consideration of these controllable fins for three-dimensional (3-D) glidingmotion is established. Meanwhile, two typical controllers are built to realize these two propulsive modes, e.g., an active disturbance rejection control-based controller for the gliding motion and a central pattern generator-based controller for dolphin-like swimming. Numerical simulations are conducted to analyze 3-D gliding motions of the robotic dolphin as well as the gliding maneuvers based on the controllable fins. Finally, extensive experiments involving gently gliding motion and several dolphinlike propulsive modes illustrate the great locomotion ability of the developed gliding robotic dolphin and also validate the effectiveness of the formulated dynamic model. These hybrid motion modes offer promising prospects of robot applications in complex deep-sea conditions. |
| WOS关键词 | GLIDER ; DYNAMICS |
| 资助项目 | National Natural Science Foundation of China[61603388] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61421004] ; Key Research Program of Frontier Sciences, CAS[QYZDJ-SSW-JSC004] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000458807900026 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Key Research Program of Frontier Sciences, CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/25018]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,et al. Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(1):260-270. |
| APA | Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,&Tan, Min.(2019).Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(1),260-270. |
| MLA | Wu, Zhengxing,et al."Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.1(2019):260-270. |
入库方式： OAI收割
来源：自动化研究所
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