Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments

doi:10.1109/TMECH.2019.2891290

	Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments
	Wu, Zhengxing1 ; Yu, Junzhi1,2 ; Yuan, Jun1 ; Tan, Min1
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2019-02-01
卷号	24 期号:1 页码:260-270
关键词	Dolphin-like swimming gliding robotic dolphin modeling and control underwater robotics
ISSN号	1083-4435
DOI	10.1109/TMECH.2019.2891290
通讯作者	Yu, Junzhi(yuanjun2012@ia.ac.cn)
英文摘要	This paper presents the mechatronic design and implementation of a gliding robotic dolphin. To pursue both high maneuverability and long endurance simultaneously, the gliding robotic dolphin novelly integrates propulsion modes of real dolphins and traditional underwater gliders, through importing a practical buoyancy-driven mechanism on the basis of a bio-inspired robotic dolphin. The hybrid mechatronic design for actual application environments is first holistically provided. In comparison with traditional underwater gliders, the robotic dolphin particularly possesses a pair of controllable flippers and a flatten flukes, which can effectively assist in regulating the gliding attitude. Consequently, a full-state dynamic model with particular consideration of these controllable fins for three-dimensional (3-D) glidingmotion is established. Meanwhile, two typical controllers are built to realize these two propulsive modes, e.g., an active disturbance rejection control-based controller for the gliding motion and a central pattern generator-based controller for dolphin-like swimming. Numerical simulations are conducted to analyze 3-D gliding motions of the robotic dolphin as well as the gliding maneuvers based on the controllable fins. Finally, extensive experiments involving gently gliding motion and several dolphinlike propulsive modes illustrate the great locomotion ability of the developed gliding robotic dolphin and also validate the effectiveness of the formulated dynamic model. These hybrid motion modes offer promising prospects of robot applications in complex deep-sea conditions.
资助项目	National Natural Science Foundation of China[61603388] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61421004] ; Key Research Program of Frontier Sciences, CAS[QYZDJ-SSW-JSC004]
WOS关键词	GLIDER ; DYNAMICS
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000458807900026
资助机构	National Natural Science Foundation of China ; Key Research Program of Frontier Sciences, CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/25018]
专题	中国科学院自动化研究所
通讯作者	Yu, Junzhi
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,et al. Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(1):260-270.
APA	Wu, Zhengxing,Yu, Junzhi,Yuan, Jun,&Tan, Min.(2019).Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(1),260-270.
MLA	Wu, Zhengxing,et al."Towards a Gliding Robotic Dolphin: Design, Modeling, and Experiments".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.1(2019):260-270.