Mechanical design and motion control of a biomimetic robotic dolphin

doi:10.1163/156855307780131974

CORC > 北京大学 > 工学院

	Mechanical design and motion control of a biomimetic robotic dolphin
	Yu, Junzhi ; Hu, Yonghui ; Fan, Ruifeng ; Wang, Long ; Huo, Hyan
刊名	advanced robotics
	2007
关键词	biomimetics swimming robot robotic dolphin propulsive model motion control FISH PERFORMANCE LOCOMOTION
DOI	10.1163/156855307780131974
英文摘要	This paper addresses the design, construction and control issues of a novel biomimetic robotic dolphin equipped with mechanical flippers, based on an engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of a rigid anterior body, a flexible rear body and an oscillating fluke. The dorsoventral movement of the tail produces the thrust and bending of the anterior body in the horizontal plane enables turning maneuvers. A dual-microcontroller structure is adopted to drive the oscillating multi-link rear body and the mechanical flippers. Experimental results primarily confirm the effectiveness of the dolphin-like movement in propulsion and maneuvering.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000244787100012&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Robotics; SCI(E); EI; 27; ARTICLE; 3-4; 499-513; 21
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/250450]
专题	工学院
推荐引用方式 GB/T 7714	Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,et al. Mechanical design and motion control of a biomimetic robotic dolphin[J]. advanced robotics,2007.
APA	Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,Wang, Long,&Huo, Hyan.(2007).Mechanical design and motion control of a biomimetic robotic dolphin.advanced robotics.
MLA	Yu, Junzhi,et al."Mechanical design and motion control of a biomimetic robotic dolphin".advanced robotics (2007).