中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Development of a Penguin-Inspired Swimming Robot With Air Lubrication System

文献类型:期刊论文

作者Pan, Jie3; Zhou, Ziye3; Wang, Jian1,2; Zhang, Pengfei1,2; Yu, Junzhi3
刊名IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
出版日期2023-03-01
卷号70期号:3页码:2780-2789
ISSN号0278-0046
关键词3-D dynamic modeling air lubrication system motion control robotic penguin
DOI10.1109/TIE.2022.3172753
通讯作者Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要In this article, a novel robotic penguin equipped with air lubrication system is developed. Through mimicking the agile movements of biological penguins, two degrees of freedom (DOF) wings including heaving and pitching motions, and a buoyancy-driven system for ascending and diving are particularly designed. Meanwhile, a complete 3-D dynamic model is established based on the Morrison equation, and the hydrodynamic parameters are determined with experimental results. Then, taking the bioinspired central pattern generators as the main actuation, the 3-D locomotion performance is discussed. More importantly, inspired by the leaping behavior of penguins, a unique air lubrication system is developed, and the obtained results verify the effectiveness of the mechatronic design. This work will offer valuable insight into the future development and control of next-generation versatile underwater vehicles capitalizing on the air lubrication mechanism.
WOS关键词DRAG REDUCTION ; EMPEROR ; REALIZATION ; DESIGN ; FISH
资助项目National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[T2121002] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[62003008]
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种英语
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号WOS:000886844200060
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/50809]  
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
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Peking Univ, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Coll Engn,BIC ESAT, Beijing 100871, Peoples R China
推荐引用方式
GB/T 7714
Pan, Jie,Zhou, Ziye,Wang, Jian,et al. Development of a Penguin-Inspired Swimming Robot With Air Lubrication System[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(3):2780-2789.
APA Pan, Jie,Zhou, Ziye,Wang, Jian,Zhang, Pengfei,&Yu, Junzhi.(2023).Development of a Penguin-Inspired Swimming Robot With Air Lubrication System.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(3),2780-2789.
MLA Pan, Jie,et al."Development of a Penguin-Inspired Swimming Robot With Air Lubrication System".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.3(2023):2780-2789.

入库方式: OAI收割

来源:自动化研究所

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