Design and simulation of a robotic jellyfish based on mechanical structure drive and 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

	Design and simulation of a robotic jellyfish based on mechanical structure drive and adjustment
	Li, Xiangbin; Yu, Junzhi
	2015
会议名称	34th Chinese Control Conference, CCC 2015
会议日期	July 28, 2015 - July 30, 2015
会议地点	Hangzhou, China
关键词	Simulation Robotic jellyfish Linkage mechanisms Barycenter adjustment mechanism
英文摘要	This paper presents a novel jellyfish-inspired swimming robot whose mechanical design, control algorithm, and motion analysis are discussed and manifested in detail. In consideration of few research on robotic jellyfish capable of three-dimensional movement with mechanical drive and actuator, we propose an improved design mainly featuring six-bar linkage mechanisms as the actuators and a barycenter adjustment mechanism as an attitude regulator. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and an elastic rubber skin around the drive units. Meanwhile a bio-inspired central pattern generators control model is imported. To validate the feasibility ofthe maneuverability with designed motion mechanism and free attitude regulation, dynamic analysis and simulation experiment are conducted. The obtained results show the conceived novel robotic jellyfish can accomplish all motion tasks desired. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.
会议录	Chinese Control Conference, CCC
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13038]
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	State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
推荐引用方式 GB/T 7714	Li, Xiangbin,Yu, Junzhi. Design and simulation of a robotic jellyfish based on mechanical structure drive and adjustment[C]. 见:34th Chinese Control Conference, CCC 2015. Hangzhou, China. July 28, 2015 - July 30, 2015.