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	Construction and control of biomimetic robotic dolphin
	Yu, Junzhi ; Hu, Yonghui ; Fan, Ruifeng ; Wang, Long ; Huo, Jiyan
	2006
关键词	biomimetics swimming robot robotic dolphin propulsive model motion control FISH PERFORMANCE LOCOMOTION
DOI	10.1109/ROBOT.2006.1642047
英文摘要	This paper is concerned with the design, construction, and control of a biomimetic robotic dolphin equipped with mechanical flippers, based on a simplified engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of rigid anterior body, flexible rear body, and an oscillating fluke. The dorsoventral movement of the tail produces the thrust, and bending of the body in the horizontal plane enables turning maneuvers. A dualmicrocontrotler structure is proposed to drive the oscillating multi-link rear body and the mechanical flippers. Swimming performance of the prototype robotic dolphin is tested, and the results 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:000240886905008&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Automation & Control Systems; Computer Science, Artificial Intelligence; Engineering, Mechanical; Robotics; EI; CPCI-S(ISTP); 2
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/316542]
专题	工学院
推荐引用方式 GB/T 7714	Yu, Junzhi,Hu, Yonghui,Fan, Ruifeng,et al. Construction and control of biomimetic robotic dolphin[C]. 见:.

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