designandattitudecontrolofanovelroboticjellyfishcapableof3dmotion

	designandattitudecontrolofanovelroboticjellyfishcapableof3dmotion
	Yu Junzhi; Li Xiangbin; Pang Lei; Wu Zhengxing
刊名	sciencechinainformationscience
	2019
卷号	62 期号:9
ISSN号	1674-733X
英文摘要	Aquatic creatures such as fish,cetaceans,and jellyfish could inspire innovative designs to improve the ways that manmade systems operate in and interact with aquatic environments.Jellyfish in nature use jet propulsion to move through the water,which have been proven to be one of the most energetically efficient swimmers on the planet.Researchers are making an integrated effort to develop smart actuators to fabricate various robotic jellyfish,such as shape memory alloys (SMA),ionic polymer metal composites (IPMC),and dielectric elastomer actuator.Most of existing robotic jellyfish cannot freely adjust their three-axis attitude,which has an adverse effect on free-swimming propulsion and plausible applications.We investigate how to design and control a bio-inspired motor-driven robotic jellyfish capable of three-dimensional (3D) motion.The main contributions of this work are twofold.First,a novel 3D barycenter adjustment mechanism is implemented,allowing flexible regulation of the robot’s barycenter.Second,the proposal of the reinforcement learning based attitude control method makes autonomous attitude regulation possible.In comparison with most of the other robotic jellyfish,the built robot displays a high order of structure flexibility and yaw maneuverability.Therefore,this self-propelled robotic jellyfish with 3D motion has great implications for bio-inspired design of jet propulsion system with great agility.
语种	英语
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/26394]
专题	中国科学院自动化研究所
作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yu Junzhi,Li Xiangbin,Pang Lei,et al. designandattitudecontrolofanovelroboticjellyfishcapableof3dmotion[J]. sciencechinainformationscience,2019,62(9).
APA	Yu Junzhi,Li Xiangbin,Pang Lei,&Wu Zhengxing.(2019).designandattitudecontrolofanovelroboticjellyfishcapableof3dmotion.sciencechinainformationscience,62(9).
MLA	Yu Junzhi,et al."designandattitudecontrolofanovelroboticjellyfishcapableof3dmotion".sciencechinainformationscience 62.9(2019).