Turning analysis and its implementation of link-based dolphin-like robots | |
Yu, Junzhi1![]() ![]() ![]() | |
2008 | |
会议名称 | Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008 |
会议日期 | Sept. 2008 |
会议地点 | Qingdao, China |
通讯作者 | Yu, Junzhi |
英文摘要 | This paper addresses the turning issues of a multilink dolphin-like robot with a pair of mechanical flippers. The propulsion and maneuvering of the robot depend on the dorsoventral oscillations of the tail and the flapping movements of the artificial flippers. Taking into account both mechanical structure and functional characteristics of the dolphin-like robot, we present a practical approach to perform planar turning maneuvers as well as its dynamic analysis. The characteristic parameters affecting turning performance primarily include deflection angle, turning radius, and turning rate, which are discussed with a comparison between the simulation results and the experiments on circular motions. Preliminary tests in a robotics context partly demonstrate the effectiveness of the proposed turning scheme. |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/13057] ![]() |
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 |
作者单位 | 1.Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O. Box 2728, Beijing 100190, China 2. Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong |
推荐引用方式 GB/T 7714 | Yu, Junzhi,Li, Y.F.,Wang, Min,et al. Turning analysis and its implementation of link-based dolphin-like robots[C]. 见:Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008. Qingdao, China. Sept. 2008. |
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