Motion Control Strategies for a Repetitive Leaping Robotic Dolphin

doi:10.1109/TMECH.2019.2908082

	Motion Control Strategies for a Repetitive Leaping Robotic Dolphin
	Yu, Junzhi1,2 ; Wu, Zhengxing1,3 ; Su, Zongshuai 1,3; Wang, Tianzhu1,3 ; Qi, Suwen 4
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2019-06-01
卷号	24 期号:3 页码:913-923
关键词	Bioinspired aquatic robot fast swimming leaping motion control robotic dolphin
ISSN号	1083-4435
DOI	10.1109/TMECH.2019.2908082
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn) ; Qi, Suwen(qisuwen@szu.edu.cn)
英文摘要	It is challenging to emulate high-speed and short-duration surface piercing motions for a self-propelled robotic dolphin when it attempts to perform leaps in the context of bioinspired robotics. This paper presents motion control strategies for a repetitive leaping robotic dolphin serving as a platform for implementation and evaluation of modeling and control methods. First, an integrative model that takes account of both kinematics and dynamics is established to explore the possibility of leaping with an untethered swimming robot. Then, a novel high-speed swimming control strategy is then put forward based on the angle of attack theory, followed by the proposal of orientation control strategy. Finally, leaping tests on the actual robot verify the effectiveness of the conducted leaping analysis along with the proposed control strategies. Remarkably, the robot was able to conduct three continuous leaps back-to-back for the first time in a confined swimming pool. Results from this study also have implications for bioinspired design, where high speeds and maneuverability are required.
资助项目	National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61333016] ; Beijing Natural Science Foundation[4161002] ; Pre-research Fund of Equipments of China[61403120108] ; Key Research and Development and Transformation Project of Qinghai Province[2017-GX-103]
WOS关键词	FISH
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000472193600003
资助机构	National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Pre-research Fund of Equipments of China ; Key Research and Development and Transformation Project of Qinghai Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/26015]
专题	先进机器人控制团队
通讯作者	Yu, Junzhi; Qi, Suwen
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Peking Univ, State Key Lab Turbulence & Complex Syst, Dept Mech & Engn Sci, BIC ESAT,Coll Engn, Beijing 100871, Peoples R China 3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 4.Shenzhen Univ, Sch Med, Dept Biomed Engn, Shenzhen 518060, Peoples R China
推荐引用方式 GB/T 7714	Yu, Junzhi,Wu, Zhengxing,Su, Zongshuai,et al. Motion Control Strategies for a Repetitive Leaping Robotic Dolphin[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(3):913-923.
APA	Yu, Junzhi,Wu, Zhengxing,Su, Zongshuai,Wang, Tianzhu,&Qi, Suwen.(2019).Motion Control Strategies for a Repetitive Leaping Robotic Dolphin.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(3),913-923.
MLA	Yu, Junzhi,et al."Motion Control Strategies for a Repetitive Leaping Robotic Dolphin".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.3(2019):913-923.