Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements
文献类型：期刊论文
| 作者 | Yu Junzhi ; Li Y. F.; Hu Yonghui; Wang Long Wang
|
| 刊名 | ADVANCED ROBOTICS
 |
| 出版日期 | 2009 |
| 卷号 | 23期号:10页码:1299-1313 |
| 关键词 | Bio-inspired robots dolphin-like swimming dynamics and control multibody dynamics locomotion control |
| 通讯作者 | Yu Junzhi |
| 英文摘要 | This paper presents a three-dimensional (3-D) dynamic model for a self-propelled, multilink dolphin-like robot to predict the dynamic behaviors of the bio-inspired artificial dolphin system within the framework of multibody dynamics. The propulsive structure mimicking dorsoventral motion includes a multilink tail and a flexibly oscillating fluke moving in coordination, as well as a pair of mechanical flippers performing flapping movements. This configuration can practically be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is then employed to formulate the equations of motion based on the well-integrated kinematic and dynamic analyses of propulsive elements. Several locomotor behaviors, via coordinated control of the propulsors, can be principally replicated and numerically evaluated. Comparative results between simulations and experiments on forward swimming and combined motions are shown to demonstrate the effectiveness of the created model and locomotion control methods for dolphin-like swimming. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | FOILS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000269928200005 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3438]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Yu Junzhi,Li Y. F.,Hu Yonghui,et al. Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements[J]. ADVANCED ROBOTICS,2009,23(10):1299-1313. |
| APA | Yu Junzhi,Li Y. F.,Hu Yonghui,&Wang Long Wang.(2009).Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements.ADVANCED ROBOTICS,23(10),1299-1313. |
| MLA | Yu Junzhi,et al."Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements".ADVANCED ROBOTICS 23.10(2009):1299-1313. |
入库方式： OAI收割
来源：自动化研究所
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