Development of a Fast-Swimming Dolphin Robot Capable of Leaping

CORC > 自动化研究所 > 中国科学院自动化研究所 > 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

	Development of a Fast-Swimming Dolphin Robot Capable of Leaping
	Yu, Junzhi; Su, Zongshuai; Wu, Zhengxing; Tan, Min
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2016-10-01
卷号	21 期号:5 页码:2307-2316
关键词	Bioinspired robot control engineering dolphin robot leaping minimum exit speed
通讯作者	Yu, Junzhi
英文摘要	It remains a great challenge for a biomimetic dolphin robot to leap out of the water by reason of requirements for very high speed and exquisite motion control. In this paper, we estimate the minimum exit speed that allows the dolphin to completely leap out of the water, and for the first time, we build a self-contained leaping dolphin robot with commercially available actuators and power supply. To quantify the possible impact of the body length on the minimum exit speed during the leap, we employ a rigid body model rather than a particle model to numerically evaluate the leaping process. Furthermore, a robotic prototype intended for leap motions is created, with particular emphasis on streamlining and high-thrust tail propulsive mechanism designs in conjunction with a passive control strategy for the dorsoventral propulsion. Underwater tests on the untethered dolphin robotdemonstrate the effectiveness of the proposed methods and mechatronic designs. We found that the dolphin robot successfully performed leaps with a length-specific speed of over 2.3 body lengths per second, and an emergence angle ranging between 35 and 60°.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]	Automation & Control Systems ; Engineering
关键词[WOS]	FISH ; OPTIMIZATION ; PERFORMANCE ; MANEUVERS ; TRACKING ; DESIGN ; SPEEDS ; MOTION
收录类别	SCI
语种	英语
WOS记录号	WOS:000382472600010
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12622]
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
作者单位	State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
推荐引用方式 GB/T 7714	Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,et al. Development of a Fast-Swimming Dolphin Robot Capable of Leaping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(5):2307-2316.
APA	Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,&Tan, Min.(2016).Development of a Fast-Swimming Dolphin Robot Capable of Leaping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(5),2307-2316.
MLA	Yu, Junzhi,et al."Development of a Fast-Swimming Dolphin Robot Capable of Leaping".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.5(2016):2307-2316.