Development of a Novel Robotic Jellyfish Based on Mechanical Structure Drive and Barycenter Adjustment

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

	Development of a Novel Robotic Jellyfish Based on Mechanical Structure Drive and Barycenter Adjustment
	Li Xiangbin; Yu Junzhi
	2015
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期	December 6-9, 2015
会议地点	Zhuhai, China
关键词	Robotic jellyfish Barycenter adjustment Underwater experiment 3D swimming ability
通讯作者	Li Xiangbin
英文摘要	Jellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and barycenter adjustment mechanism. The robotic jellyfish relies on six-bar linkage mechanisms as actuators to realize the contraction-relaxation jet propulsion motion. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and a latex skin is enwrapped around the drive units. To achieve free switch between different motion modes and transform attitude arbitrarily, a barycenter adjustment mechanism is embedded in the robot body. Through the upward, downward, balancing, as well as leaning-down motion of clump weights, the center of gravity of the robot can enwrap its center of buoyancy. Experimental tests on the actual robotic jellyfish verify the great 3D swimming ability.
收录类别	EI
会议录	2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/11739]
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	Institute of Automation, Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Li Xiangbin,Yu Junzhi. Development of a Novel Robotic Jellyfish Based on Mechanical Structure Drive and Barycenter Adjustment[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO). Zhuhai, China. December 6-9, 2015.