Title :
Three-Dimensional Swimming
Author :
Yu, Junzhi ; Wang, Ming ; Tan, Min ; Zhang, Jianwei
Author_Institution :
Lab. of Complex Syst. & Intell. Sci., Inst. of Autom., Beijing, China
Abstract :
This article describes a self-propelled dolphin robot that aims to create a stable and controllable experimental platform. A viable bioinspired approach to generate diverse instances of dolphin-like swimming online via a center pattern generator (CPG) network is proposed.The characteristic parameters affecting three-dimensional (3-D) swimming performance are further identified and discussed. Both interactive and programmed swimming tests are provided to illustrate the validity of the present scheme.
Keywords :
control engineering computing; mobile robots; solid modelling; 3D swimming performance; CPG network; bioinspired approach; center pattern generator; dolphin-like swimming; self-propelled dolphin robot; Couplings; Dolphins; Oscillators; Propulsion; Robot sensing systems; Servomotors;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2011.942998
