This paper aims to describe the design of a robot dolphin with a voluntary movement function. First, a motion mechanism is described based on 3D motion analysis to determine the length of each link and the swing angle of each joint in the robot dolphin. Two microchips are used to control the swing angle of the actuator in each joint. In order to understand the motion characteristics of the robot dolphin, a microcomputer is installed in order to obtain various motion data. The experimental data for three-axis accelerations and three-axis angles are found to be the same as the oscillatory frequency of the robot dolphin in the swing forward motion. The robot dolphin is designed to possess an avoidable collision function and artificial intelligence, artificial intelligence consists of the preprocessing image and back-propagation learning to implement specific motion identification.
Design and development of an autonomous underwater vehicle – robot dolphin
Journal of Marine Engineering & Technology ; 14 , 1 ; 44-55
2015-01-02
12 pages
Article (Journal)
Electronic Resource
English
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