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	Development and control of dolphin-like underwater vehicle
	Hu, Yonghui ; Wang, Long ; Yu, Junzhi ; Huo, Jiyan ; Jia, Yingmin
	2008
关键词	PECTORAL FINS PERFORMANCE
英文摘要	This paper is concerned with prototype development and motion control of a dolphin-like underwater robot. The propulsion and maneuvering of the robotic dolphin are realized with the flapping motion of the mechanical flippers and the combined heaving and pitching motions of the fluke. Mechanical design and control of the flipper apparatus and the flexible tail mechanism are presented. Through coordinated control of the propulsors, several swimming movements are designed. Preliminary experimental results verify the effectiveness of the proposed design scheme.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000259261502037&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Automation & Control Systems; Engineering, Electrical & Electronic; EI; CPCI-S(ISTP); 3
语种	英语
DOI标识	10.1109/ACC.2008.4586927
内容类型	其他
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/155226]
专题	工学院
推荐引用方式 GB/T 7714	Hu, Yonghui,Wang, Long,Yu, Junzhi,et al. Development and control of dolphin-like underwater vehicle. 2008-01-01.

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