Design and Analysis of a Bionic Gliding Robotic Dolphin
文献类型：期刊论文
| 作者 | Zhang, Yang1,2 ; Wu, Zhengxing1,2; Wang, Jian1,2; Tan, Min1,2
|
| 刊名 | BIOMIMETICS
 |
| 出版日期 | 2023-06-01 |
| 卷号 | 8期号:2页码:13 |
| 关键词 | gliding robotic dolphin bionic robot underwater gliding motion dynamic model |
| DOI | 10.3390/biomimetics8020151 |
| 通讯作者 | Wu, Zhengxing(zhengxing.wu@ia.ac.cn) |
| 英文摘要 | In this paper, we focus on the design and analysis of a bionic gliding robotic dolphin. Inspired by natural dolphins, a novel bionic gliding robotic dolphin is developed. Different from the existing ones, the gliding robotic dolphin developed in this work is specially introduced with a yaw joint to connect its three oscillating joints to improve maneuverability in both dolphin-like swimming and gliding motion. Consequently, the gliding robotic dolphin can realize several flexible motion patterns under the coordination of its flippers, yaw joint, oscillating joints, and buoyancy-driven modular. Thereafter, relying on the Newton-Euler method, a hybrid-driven dynamic model is constructed to further analyze the propulsive performance in both dolphin-like swimming and gliding motions. Finally, various simulations and experiments, including forward swimming, gliding, and turning in both dolphin-like swimming and gliding modes, are carried out to validate the effectiveness of the developed gliding robotic dolphin. |
| 资助项目 | National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62203436] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62233001] |
| WOS研究方向 | Engineering ; Materials Science |
| 语种 | 英语 |
| 出版者 | MDPI |
| WOS记录号 | WOS:001014319200001 |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53564]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Wu, Zhengxing |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Yang,Wu, Zhengxing,Wang, Jian,et al. Design and Analysis of a Bionic Gliding Robotic Dolphin[J]. BIOMIMETICS,2023,8(2):13. |
| APA | Zhang, Yang,Wu, Zhengxing,Wang, Jian,&Tan, Min.(2023).Design and Analysis of a Bionic Gliding Robotic Dolphin.BIOMIMETICS,8(2),13. |
| MLA | Zhang, Yang,et al."Design and Analysis of a Bionic Gliding Robotic Dolphin".BIOMIMETICS 8.2(2023):13. |
入库方式： OAI收割
来源：自动化研究所
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