Abstract: This paper is concerned with the design, construction, and control of a novel biomimetic robotic dolphin equipped with mechanical flippers based on an engineered propulsive model. The robotic dolphin is modelled as a three-segment organism composed of rigid anterior body, flexible rear body, and an oscillating fluke. The dorsoventral movement of the tail produces the thrust, and bending of the anterior body in the horizontal plane enables turning maneuvers. Swimming performance of the prototype is tested, and the experimental results confirm the effectiveness of the dolphinlike movement in propulsion and maneuvering.

Key words: biomimetics, swimming robot, robotic dolphin, propulsive model, motion control

摘要： 研制了一种装配有机械鳍肢的新型仿生机器海豚系统。根据海豚典型的背腹式推进的特点，提出一种工程化的推进模型。机器海豚的运动被建模为三节的摆动运动：刚性头部、弹性软体和摆动的尾叶。用一个串联的、多关节的上下摆动机构来实现背腹式运动，用左右摆动的转弯机构和两自由度运动的鳍肢机构来实现机动运动。在此基础上，开发研制了机器海豚样机。实验结果验证了背腹式游动在推进和机动运动中的有效性。

关键词: 游泳机器人, 机器海豚, 推进模型, 运动控制, 仿生