Mechanical design and motion control of a biomimetic robotic dolphin

Advanced Robotics

Volumn 21, Issue 3-4, 2007, Pages 499-513

  Yu, Junzhi ^a   Hu, Yonghui ^b   Fan, Ruifeng ^b   Wang, Long ^b   Huo, Jiyan ^b  

^a INSTITUTE OF AUTOMATION   (China)

^b PEKING UNIVERSITY   (China)

Author keywords

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

Indexed keywords

BIOMIMETICS; MATHEMATICAL MODELS; MICROCONTROLLERS; MOTION CONTROL; ROBOT APPLICATIONS;

MECHANICAL FLIPPERS; PROPULSIVE MODELS; ROBOTIC DOLPHIN; SWIMMING ROBOTS;

ROBOTICS;

EID: 33847750254     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/156855307780131974     Document Type: Article

References (19)

1. Bandyopadhyay, P. R., 2005. Trends in biorobotic autonomous undersea vehicles. IEEE J. Oceanic Eng., 30:109–139. lso available online at:http://ieeexplore.ieee.org/iel5/48/30931/ 01435581.pdf?tp=&arnumber=1435581&isnumber=30931
2. Fish, F. E., and Rohr, J. J., 1999. “ Review of dolphin hydrodynamics and swimming performance ”. In Technical Report 1801, San Diego, CA:SPAWARS System Center. Also available online at:http://www.spawar.navy.mil/sti/publications/pubs/tr/1801/tr1801.pdf
3. Triantafyllou, M. S., and Triantafyllou, G. S., 1995. An efficient swimming machine. Sci. Am., 272:64–70.
4. Barrett, D., Grosenbaugh, M., and Triantafyllou, M., 1996. “ The optimal control of a flexible hull robotic undersea vehicle propelled by an oscillating foil ”. In Proc. 1996 IEEE AUV Symp 1–9. Monterrey, CA Also available online at:http://ieeexplore.ieee.org/iel3/3780/11039/ 00532833.pdf?tp=&arnumber=532833&isnumber=11039
5. Anderson, J. M., and Chhabra, N. K., 2002. Maneuvering and stability performance of a robotic tuna. Integ. Comp. Biol., 42:118–126.
6. Yamamoto, I., and Terada, Y., 2003. “ Robotic fish and its technology ”. In Proc. SICE Annu. Conf 342–345. Fukui University Also available online at:http://ieeexplore.ieee.org/iel5/9240/29285/01323368.pdf?tp=&arnumber=1323368&isnumber= 29285
7. Ayers, J., C.Wilbur and Olcott, C., 2000. “ Lamprey robots ”. In Proc. Int. Symp. on Aqua Biomechanisms, 1–6. Tokai University.
8. 2006. Biological?Ariel http://robosapiens.mit.edu/ariel.htm
9. Kato, N., 2000. Control performance in the horizontal plane of a fish robot with mechanical fins. IEEE J. Oceanic Eng., 25:121–129. Also available online at:http://ieeexplore.ieee.org/iel5/ 48/17790/00820744.pdf?tp=&arnumber=820744&isnumber=17790
10. Nakashima, M., and Ono, K., 2002. “ Development of a two-joint dolphin robot ”. In Neurotechnology for Biomimetic Robots, Edited by:Ayers, J., Davis, J. L., and Rudolph, A., 309–324. Cambridge, MA:MIT Press.
11. Yu, J., Tan, M., Wang, S., and Chen, E., 2004. Development of a biomimetic robotic fish and its control algorithm. IEEE Trans. Syst., Man Cybernet. B, 34:1798–1810. Also available online at:http://ieeexplore.ieee.org/iel5/3477/29160/01315762.pdf?tp=&arnumber=1315762&isnumber= 29160
12. Sparenberg, J. A., 2002. Survey of the mathematical theory of fish locomotion. J. Eng. Math., 44:395–448.
13. Triantafyllou, M. S., Techet, A. H., and Hover, F. S., 2004. Review of experimental work in biomimetic foils. IEEE J. Oceanic Eng., 29:585–594. Also available online at:http:// ieeexplore.ieee.org/iel5/48/29737/01353412.pdf?tp=&arnumber=1353412&isnumber=29737
14. Colgate, J. E., and Lynch, K. M., 2004. Mechanics and control of swimming:a review. IEEE J. Oceanic Eng., 29:660–673. Also available online at:http://ieeexplore.ieee.org/ iel5/48/29737/01353419.pdf?tp=&arnumber=1353419&isnumber=29737
15. Sfakiotakis, M., Lane, D. M., and Davies, J. B. C., 1999. Review of fish swimming modes for aquatic locomotion. IEEE J. Oceanic Eng., 24:237–252. Also available online at:http://ieeexplore.ieee.org/iel4/48/16413/00757275.pdf?tp=&arnumber=757275&isnumber= 16413
16. Nakashima, M., Takahashi, Y., Tsubaki, T., and Ono, K., 2004. “ Three-dimensional maneuverability of the dolphin robot (roll control and loop-the-loop motion) ”. In Bio-mechanisms of Swimming and Flying, Edited by:Kato, N., Ayers, J., and Morikawa, H., 79–92. Berlin:Springer.
17. Dickinson, M. H., Farley, C. F., Full, R. J., Koehl, M. A. R., Kram, R., and Lehman, S., 2000. How animals move:an integrative view. Science, 288:100–106.
18. Romanenko, E. V., 2002. Fish and Dolphin Swimming, Moscow:Pensoft.
19. Yu, J., and Wang, L., 2005. “ Parameter optimization of simplified propulsive model for biomimetic robot fish ”. In Proc. IEEE Int. Conf. on Robotics and Automation 3317–3322. Barcelona lso available online at:http://ieeexplore.ieee.org/ iel5/10495/33250/01570620.pdf?tp=&arnumber=1570620&isnumber=33250