Title :
Design, construction, and control of a robotic dolphin
Author :
Dogangil, Gorkem ; Ozcicek, Emre ; Kuzucu, Ahmet
Author_Institution :
Dept. of Mech. Eng., Istanbul Tech. Univ.
Abstract :
Nature has developed excellent yet simple solutions to everyday problems and improved them through natural selection for thousands of years. Now the science mimics the solutions of nature against its own challenges. In this paper, design and development studies of a robotic dolphin prototype, entirely inspired by bottlenose the dolphin (Tursiops truncatus), are presented in three parts. Design features of the prototype, hydrodynamic analysis, system modeling and simulation are presented in the first section. The second section presents the mechanical construction, in which a new solution for swimming efficiency and maneuverability is proposed. In the control section, motion control of the prototype and control system structure are presented. Experimental results are discussed briefly
Keywords :
control system synthesis; hydrodynamics; mobile robots; motion control; robot kinematics; underwater vehicles; hydrodynamic analysis; maneuverability; mechanical construction; motion control; robotic Dolphin; system modeling; Control systems; Dolphins; Energy consumption; Marine animals; Motion control; Propellers; Propulsion; Prototypes; Robot control; Tail;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246400