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Motion Control Strategies for a Repetitive Leaping Robotic Dolphin

文献类型：期刊论文

作者Yu, Junzhi1,2; Wu, Zhengxing1,3; Su, Zongshuai1,3; Wang, Tianzhu1,3; Qi, Suwen4
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2019-06-01
卷号24期号:3页码:913-923
关键词Bioinspired aquatic robot fast swimming leaping motion control robotic dolphin
ISSN号1083-4435
DOI10.1109/TMECH.2019.2908082
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn) ; Qi, Suwen(qisuwen@szu.edu.cn)
英文摘要It is challenging to emulate high-speed and short-duration surface piercing motions for a self-propelled robotic dolphin when it attempts to perform leaps in the context of bioinspired robotics. This paper presents motion control strategies for a repetitive leaping robotic dolphin serving as a platform for implementation and evaluation of modeling and control methods. First, an integrative model that takes account of both kinematics and dynamics is established to explore the possibility of leaping with an untethered swimming robot. Then, a novel high-speed swimming control strategy is then put forward based on the angle of attack theory, followed by the proposal of orientation control strategy. Finally, leaping tests on the actual robot verify the effectiveness of the conducted leaping analysis along with the proposed control strategies. Remarkably, the robot was able to conduct three continuous leaps back-to-back for the first time in a confined swimming pool. Results from this study also have implications for bioinspired design, where high speeds and maneuverability are required.
WOS关键词FISH
资助项目National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61333016] ; Beijing Natural Science Foundation[4161002] ; Pre-research Fund of Equipments of China[61403120108] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000472193600003
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Pre-research Fund of Equipments of China ; Key Research and Development and Transformation Project of Qinghai Province
源URL[http://ir.ia.ac.cn/handle/173211/26015]  
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
通讯作者Yu, Junzhi; Qi, Suwen
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, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, BIC ESAT,Coll Engn, Beijing 100871, Peoples R China
3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
4.Shenzhen Univ, Sch Med, Dept Biomed Engn, Shenzhen 518060, Peoples R China
推荐引用方式
GB/T 7714		 Yu, Junzhi,Wu, Zhengxing,Su, Zongshuai,et al. Motion Control Strategies for a Repetitive Leaping Robotic Dolphin[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(3):913-923.
APA Yu, Junzhi,Wu, Zhengxing,Su, Zongshuai,Wang, Tianzhu,&Qi, Suwen.(2019).Motion Control Strategies for a Repetitive Leaping Robotic Dolphin.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(3),913-923.
MLA Yu, Junzhi,et al."Motion Control Strategies for a Repetitive Leaping Robotic Dolphin".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.3(2019):913-923.

入库方式： OAI收割

来源：自动化研究所

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