Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 22, Issue 5, Pages 2130-2140Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2017.2722009
Keywords
Bioinspired; mobile sensing; motion control; robotic dolphin; water quality monitoring
Categories
Funding
- National Natural Science Foundation of China [61633020, 61633017, 61603388, 61633004]
- Natural Science Foundation [4164103, 4161002]
- Key Research and Development and Transformation Project of Qinghai Province [2017-GX-103]
- Beijing Advanced Innovation Center for Intelligent Robots and Systems [2016IRS02]
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This paper presents the mechatronic design and hydrodynamic analysis of a novel bioinspired robotic dolphin used formobile water qualitymonitoring. A complementary configuration for mimicry of dolphin-like propulsion is first presented, involving a waist-fluke propulsive unit for dorsoventral oscillations and a pair of flippers with separate degree of freedom for three-dimensional (3-D) maneuvers. A host of onboard sensors is equipped to strengthen the capability of environment perception and mission execution on a near real-time basis. Considering the dynamic requirement formotion transition in water quality monitoring, a central pattern generator based controller is then built to govern the multimodal locomotion of the robotic dolphin. Moreover, a 3-D dynamic model based on the Lagrange method is employed to predict the propulsive performance, followed by simulations of continuous diving and surfacing motions. Finally, both laboratory and field experiments are conducted to demonstrate the effectiveness of the presented mechatronic design and control methods. The results further show that the robotic dolphin with 3-D maneuverability offers a feasible solution to aquatic mobile sensing.
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