关键词: 游泳机器人, 机器海豚, 推进模型, 运动控制, 仿生

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