This paper focuses on a dolphin-like swimming hydrodynamics problem for a biomimetic amphibious robot capable of both fish- and dolphin-like swimming modes. A Lagrangian reduction has been established in terms of rigid-body dynamics. For robust gait control, a central pattern generator-based approach is incorporated into the model serving as explicit joint angle control. Consequently, a simultaneous kinematics and dynamics system has been established to investigate the dolphin-like swimming. The rough comparisons between fish- and dolphin-like propulsion are very promising, which verify the effectiveness of the proposed model and further provide an insight into more efficient underwater propulsor.


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    Title :

    Dolphin-like swimming modeling for a biomimetic amphibious robot


    Contributors:
    Ding, Rui (author) / Yu, Junzhi (author) / Yang, Qinghai (author) / Tan, Min (author) / Zhang, Jianwei (author)


    Publication date :

    2011


    Size :

    6 Seiten, 7 Bilder, 24 Quellen




    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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