{"title":"一种新型仿生线驱动推进器的蝌蚪机器人","authors":"Baofeng Liao, Zheng Li, R. Du","doi":"10.1109/ROBIO.2012.6491025","DOIUrl":null,"url":null,"abstract":"This paper presents a robot tadpole which is actuated by a novel biomimetic wire-driven flapping propulsor. The propulsor has a 12-vertebra serpentine backbone and each pair of adjacent vertebras forms a spherical joint. The vertebras are divided into two groups and each group is controlled by a set of wires. By controlling the two sets of wires, the propulsor can generate oscillatory motion (C-Motion) and undulatory motion (S-Motion). A prototype is built. Experiment results show that the design is effective. Its maximum cruise speed of is 0.288 BL/s, and the turning radius is 0.8 BL.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"17","resultStr":"{\"title\":\"Robot tadpole with a novel biomimetic wire-driven propulsor\",\"authors\":\"Baofeng Liao, Zheng Li, R. Du\",\"doi\":\"10.1109/ROBIO.2012.6491025\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a robot tadpole which is actuated by a novel biomimetic wire-driven flapping propulsor. The propulsor has a 12-vertebra serpentine backbone and each pair of adjacent vertebras forms a spherical joint. The vertebras are divided into two groups and each group is controlled by a set of wires. By controlling the two sets of wires, the propulsor can generate oscillatory motion (C-Motion) and undulatory motion (S-Motion). A prototype is built. Experiment results show that the design is effective. Its maximum cruise speed of is 0.288 BL/s, and the turning radius is 0.8 BL.\",\"PeriodicalId\":426468,\"journal\":{\"name\":\"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"17\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2012.6491025\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2012.6491025","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robot tadpole with a novel biomimetic wire-driven propulsor
This paper presents a robot tadpole which is actuated by a novel biomimetic wire-driven flapping propulsor. The propulsor has a 12-vertebra serpentine backbone and each pair of adjacent vertebras forms a spherical joint. The vertebras are divided into two groups and each group is controlled by a set of wires. By controlling the two sets of wires, the propulsor can generate oscillatory motion (C-Motion) and undulatory motion (S-Motion). A prototype is built. Experiment results show that the design is effective. Its maximum cruise speed of is 0.288 BL/s, and the turning radius is 0.8 BL.
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