@inproceedings{bf2dfe594d5b4fdfb0676e5cb4ec131c,
title = "Modeling and control of a link-based dolphin-like robot capable of 3D movements",
abstract = "This paper focuses on a three-dimensional (3D) dynamic model for a self-propelled, multilink dolphin-like robot to predict the dynamic behaviors of the bio-inspired artificial dolphin system within the framework of multibody dynamics. The propulsive structure involves a multilink tail and an oscillating fluke cooperatively achieving dorsoventral oscillations, as well as a pair of mechanical flippers performing flapping movements, which can actually be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is further utilized to formulate the equations of the motion on the basis of a well-integrated kinematic and dynamic analysis of propulsive elements. A rough comparison between simulations and experiments on forward swimming and combined motions verifies the effectiveness of the formed model and corresponding locomotion control method. {\textcopyright} 2008 Springer Berlin Heidelberg.",
keywords = "Bio-inspired robots, Dynamics and control, Locomotion control, Multibody dynamics, Schiehlen method",
author = "Junzhi Yu and Youfu Li and Yonghui Hu and Long Wang",
year = "2008",
doi = "10.1007/978-3-540-88513-9\_105",
language = "English",
isbn = "3540885129",
volume = "5314 LNAI",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "982--991",
booktitle = "Intelligent Robotics and Applications",
address = "Germany",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}