Mechanical design and motion control of a biomimetic robotic dolphin

Authors: Yu, Junzhi¹; Hu, Yonghui²; Fan, Ruifeng²; Wang, Long²; Huo, Jiyan²

Source: Advanced Robotics, Volume 21, Numbers 3-4, 2007 , pp. 499-513(15)

Publisher: VSP, an imprint of Brill

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Abstract:

This paper addresses the design, construction and control issues of a novel biomimetic robotic dolphin equipped with mechanical flippers, based on an engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of a rigid anterior body, a flexible rear body and an oscillating fluke. The dorsoventral movement of the tail produces the thrust and bending of the anterior body in the horizontal plane enables turning maneuvers. A dual-microcontroller structure is adopted to drive the oscillating multi-link rear body and the mechanical flippers. Experimental results primarily confirm the effectiveness of the dolphin-like movement in propulsion and maneuvering.

Keywords: BIOMIMETICS; SWIMMING ROBOT; ROBOTIC DOLPHIN; PROPULSIVE MODEL; MOTION CONTROL

Document Type: Research article

DOI: 10.1163/156855307780131974

Affiliations: 1: Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China 2: Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China

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