ISSN 1002-1027  CN 11-2952/G2

Acta scientiarum naturalium Universitatis Pekinensis

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Mechanism Design and Motion Control of Robotic Dolphin

WANG Long, YU Junzhi, HU Yonghui, FAN Ruifeng, HUO Jiyan, XIE Guangming   

  1. Laboratory of Intelligent Biomimetic Machines, College of Engineering, Peking University, Beijing, 100871
  • Received:2005-11-22 Online:2006-05-20 Published:2006-05-20

Abstract: This paper is concerned with the design, construction, and control of a novel biomimetic robotic dolphin equipped with mechanical flippers based on an engineered propulsive model. The robotic dolphin is modelled as a three-segment organism composed of rigid anterior body, flexible rear body, and an oscillating fluke. The dorsoventral movement of the tail produces the thrust, and bending of the anterior body in the horizontal plane enables turning maneuvers. Swimming performance of the prototype is tested, and the experimental results confirm the effectiveness of the dolphinlike movement in propulsion and maneuvering.