Towards development of a slider-crank centered self-propelled dolphin robot

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

	Towards development of a slider-crank centered self-propelled dolphin robot
	Yu, Junzhi; Wei, Changming
刊名	ADVANCED ROBOTICS
	2013-08-01
卷号	27 期号:12 页码:971-977
关键词	mechatronic design slider-crank flapping mechanism dolphin robot dolphin-like swimming
通讯作者	Yu, Junzhi
英文摘要	This paper is devoted to the mechatronic design and implementation of a dolphin-like robot capable of fast swimming. In the context of multiple coordinated control surfaces, a set of serially connected flapping modules is responsible for dorsoventral oscillations, an internal moving slider for pitch control and a yaw joint for lateral turns. To improve the swimming speed, an updated modular slider-crank-based flapping mechanism that fully capitalizes on the continuous high-speed rotation of the DC motor is proposed and constructed. With the proposed mechanisms, the resulting dolphin robot achieved a high level of propulsive speed, largely illustrating the validity of the present design scheme.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
关键词[WOS]	FISH
收录类别	SCI
语种	英语
WOS记录号	WOS:000320499100006
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3465]
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,Wei, Changming. Towards development of a slider-crank centered self-propelled dolphin robot[J]. ADVANCED ROBOTICS,2013,27(12):971-977.
APA	Yu, Junzhi,&Wei, Changming.(2013).Towards development of a slider-crank centered self-propelled dolphin robot.ADVANCED ROBOTICS,27(12),971-977.
MLA	Yu, Junzhi,et al."Towards development of a slider-crank centered self-propelled dolphin robot".ADVANCED ROBOTICS 27.12(2013):971-977.