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	Modeling and control of a link-based dolphin-like robot capable of 3D movements
	Yu, Junzhi ; Li, Youfu ; Hu, Yonghui ; Wang, Long
	2008
DOI	10.1007/978-3-540-88513-9-105
英文摘要	This paper focuses on a three-dimensional (3D) 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 involves a multilink tail and an oscillating fluke cooperatively achieving dorsoventral oscillations, as well as a pair of mechanical flippers performing flapping movements, which can actually be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is further utilized to formulate the equations of the motion on the basis of a well-integrated kinematic and dynamic analysis of propulsive elements. A rough comparison between simulations and experiments on forward swimming and combined motions verifies the effectiveness of the formed model and corresponding locomotion control method. ? 2008 Springer Berlin Heidelberg.; EI; 0
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/327650]
专题	工学院
推荐引用方式 GB/T 7714	Yu, Junzhi,Li, Youfu,Hu, Yonghui,et al. Modeling and control of a link-based dolphin-like robot capable of 3D movements[C]. 见:.

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