Development of a Penguin-Inspired Swimming Robot With Air Lubrication System

doi:10.1109/TIE.2022.3172753

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 Penguin-Inspired Swimming Robot With Air Lubrication System
	Pan, Jie 3; Zhou, Ziye 3; Wang, Jian 1,2; Zhang, Pengfei 1,2; Yu, Junzhi 3
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2023-03-01
卷号	70 期号:3 页码:2780-2789
关键词	3-D dynamic modeling air lubrication system motion control robotic penguin
ISSN号	0278-0046
DOI	10.1109/TIE.2022.3172753
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	In this article, a novel robotic penguin equipped with air lubrication system is developed. Through mimicking the agile movements of biological penguins, two degrees of freedom (DOF) wings including heaving and pitching motions, and a buoyancy-driven system for ascending and diving are particularly designed. Meanwhile, a complete 3-D dynamic model is established based on the Morrison equation, and the hydrodynamic parameters are determined with experimental results. Then, taking the bioinspired central pattern generators as the main actuation, the 3-D locomotion performance is discussed. More importantly, inspired by the leaping behavior of penguins, a unique air lubrication system is developed, and the obtained results verify the effectiveness of the mechatronic design. This work will offer valuable insight into the future development and control of next-generation versatile underwater vehicles capitalizing on the air lubrication mechanism.
资助项目	National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[T2121002] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61903007] ; National Natural Science Foundation of China[62003008]
WOS关键词	DRAG REDUCTION ; EMPEROR ; REALIZATION ; DESIGN ; FISH
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000886844200060
资助机构	National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50809]
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
通讯作者	Yu, Junzhi
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Peking Univ, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Coll Engn,BIC ESAT, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Pan, Jie,Zhou, Ziye,Wang, Jian,et al. Development of a Penguin-Inspired Swimming Robot With Air Lubrication System[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(3):2780-2789.
APA	Pan, Jie,Zhou, Ziye,Wang, Jian,Zhang, Pengfei,&Yu, Junzhi.(2023).Development of a Penguin-Inspired Swimming Robot With Air Lubrication System.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(3),2780-2789.
MLA	Pan, Jie,et al."Development of a Penguin-Inspired Swimming Robot With Air Lubrication System".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.3(2023):2780-2789.