Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements

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

	Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements
	Yu Junzhi; Li Y. F.; Hu Yonghui; Wang Long Wang
刊名	ADVANCED ROBOTICS
	2009
卷号	23 期号:10 页码:1299-1313
关键词	Bio-inspired robots dolphin-like swimming dynamics and control multibody dynamics locomotion control
通讯作者	Yu Junzhi
英文摘要	This paper presents a three-dimensional (3-D) dynamic model for a self-propelled, multilink dolphin-like robot to predict the dynamic behaviors of the bio-inspired artificial dolphin system within the framework of multibody dynamics. The propulsive structure mimicking dorsoventral motion includes a multilink tail and a flexibly oscillating fluke moving in coordination, as well as a pair of mechanical flippers performing flapping movements. This configuration can practically be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is then employed to formulate the equations of motion based on the well-integrated kinematic and dynamic analyses of propulsive elements. Several locomotor behaviors, via coordinated control of the propulsors, can be principally replicated and numerically evaluated. Comparative results between simulations and experiments on forward swimming and combined motions are shown to demonstrate the effectiveness of the created model and locomotion control methods for dolphin-like swimming.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
关键词[WOS]	FOILS
收录类别	SCI
语种	英语
WOS记录号	WOS:000269928200005
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3438]
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
推荐引用方式 GB/T 7714	Yu Junzhi,Li Y. F.,Hu Yonghui,et al. Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements[J]. ADVANCED ROBOTICS,2009,23(10):1299-1313.
APA	Yu Junzhi,Li Y. F.,Hu Yonghui,&Wang Long Wang.(2009).Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements.ADVANCED ROBOTICS,23(10),1299-1313.
MLA	Yu Junzhi,et al."Dynamic Analysis and Control Synthesis of a Link-Based Dolphin-Like Robot Capable of Three-Dimensional Movements".ADVANCED ROBOTICS 23.10(2009):1299-1313.