Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot
文献类型：期刊论文
| 作者 | Yu Junzhi ; Su Zongshuai; Wang Ming; Tan Min; Zhang Jianwei
|
| 刊名 | IEEE TRANSACTIONS ON ROBOTICS
 |
| 出版日期 | 2012-04-01 |
| 卷号 | 28期号:2页码:318-329 |
| 关键词 | Bioinspired robot dolphin robot dolphin swimming pitch turn turn control |
| 通讯作者 | Yu Junzhi |
| 英文摘要 | This paper is devoted to the active turn control of a free-swimming multilinkdolphin-like robot, with emphasis on yaw and pitch controls. With full consideration of both mechanical configuration and propulsive principle of the robot consisting of a yaw joint and multiple pitch joints, a viable approach to perform yaw maneuvers via laterally directed biases is formed, providing an advantage in qualitative and quantitative assessment. Meanwhile, based on the feedback of the pitch angle measured by an onboard gyroscope, a closed-loop control strategy in dorsoventral motions is proposed to achieve agile and swift pitch maneuvers. More remarkably, two hybrid acrobatic stunts, i.e., frontflip and backflip, are first implemented on the physical robot. The latest results obtained demonstrate the effectiveness of the proposed methods. It is also confirmed that the dolphin robot achieves better performance for pitchmaneuvers than it does for yaw maneuvers, agreeing well with the biological observations. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | PERFORMANCE ; MOVEMENTS ; CETACEANS ; MECHANISM ; FISH |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000302505100004 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3482]  |
| 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,Su Zongshuai,Wang Ming,et al. Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot[J]. IEEE TRANSACTIONS ON ROBOTICS,2012,28(2):318-329. |
| APA | Yu Junzhi,Su Zongshuai,Wang Ming,Tan Min,&Zhang Jianwei.(2012).Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot.IEEE TRANSACTIONS ON ROBOTICS,28(2),318-329. |
| MLA | Yu Junzhi,et al."Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot".IEEE TRANSACTIONS ON ROBOTICS 28.2(2012):318-329. |
入库方式： OAI收割
来源：自动化研究所
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