TY - GEN
T1 - Design and Control of Bionic Manta Ray Robot with Flexible Pectoral Fin
AU - Zhang, Yixin
AU - Wang, Shaoping
AU - Wang, Xingjian
AU - Geng, Yixuan
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/21
Y1 - 2018/8/21
N2 - Manta rays can achieve flexible movements underwater with high propulsive efficiency. Bionic manta ray robot has always been a hotspot in bio-robot research. In this paper, a novel bionic Manta Ray robot is proposed based on the synthetically biological observation of manta ray. Firstly, flexible mechanism and rigid support are integrated in the mechanical structure design of this robot and real flexible deformation of the pectoral fins can be well simulated. Secondly, central pattern generator (CPG) control approach is used to achieve the rhythmic biomimetic movement. Experiments with a demo prototype are conducted to validate the effectiveness and efficiency of proposed approaches.
AB - Manta rays can achieve flexible movements underwater with high propulsive efficiency. Bionic manta ray robot has always been a hotspot in bio-robot research. In this paper, a novel bionic Manta Ray robot is proposed based on the synthetically biological observation of manta ray. Firstly, flexible mechanism and rigid support are integrated in the mechanical structure design of this robot and real flexible deformation of the pectoral fins can be well simulated. Secondly, central pattern generator (CPG) control approach is used to achieve the rhythmic biomimetic movement. Experiments with a demo prototype are conducted to validate the effectiveness and efficiency of proposed approaches.
UR - https://www.scopus.com/pages/publications/85053144967
U2 - 10.1109/ICCA.2018.8444283
DO - 10.1109/ICCA.2018.8444283
M3 - 会议稿件
AN - SCOPUS:85053144967
SN - 9781538660898
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 1034
EP - 1039
BT - 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
PB - IEEE Computer Society
T2 - 14th IEEE International Conference on Control and Automation, ICCA 2018
Y2 - 12 June 2018 through 15 June 2018
ER -