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JRM Vol.18 No.3 pp. 347-355
doi: 10.20965/jrm.2006.p0347
(2006)

Paper:

Three-Dimensional Movement in Water of the Dolphin Robot – Control Between Two Positions by Roll and Pitch Combination –

Motomu Nakashima*, Takahiro Tsubaki**, and Kyosuke Ono***

*Department of Mechanical and Environmental Informatics, Graduate School of Information Science and Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

**Mitsuba Corporation, 1-2681 Hirosawa-cho, Kiryu-shi, Gumma 376-8555, Japan

***Central Research Laboratory, Hitachi Ltd., 2880 Kouzu, Odawara-shi, Kanagawa 256-8510, Japan

Received:
July 19, 2005
Accepted:
December 19, 2005
Published:
June 20, 2006
Keywords:
bio-fluid mechanics, bio-motion, biomimetics, dolphin robot, swimming
Abstract

The purpose of this study is to have a biomimetic robot realize the three-dimensional maneuverability of fast-swimming animals such as dolphins. In the preceding paper, a dolphin robot whose length is 1m was developed, and loop-the-loop motion in water performed. In the present report, a reference trajectory from a start position to an end position was first planned using the combined motions of roll and pitch. Next, a simulation method to analyze the three-dimensional dynamics of the dolphin robot was developed, then used to investigate feedback controls for roll, pitch, and yaw. It was found in the simulation that the proposed feedback control scheme was sufficient for tracking the reference trajectory. Finally, swimming experiments were conducted to determine the validity of the simulation method and the control algorithm. The control performance in experiments was found to be satisfactory, although the optimal feedback gain was found to be somewhat different from that in the simulation. This paper is the full translation from the transactions of JSME Series C, Vol.71, No.702, 2005.

Cite this article as:
Motomu Nakashima, Takahiro Tsubaki, and Kyosuke Ono, “Three-Dimensional Movement in Water of the Dolphin Robot – Control Between Two Positions by Roll and Pitch Combination –,” J. Robot. Mechatron., Vol.18, No.3, pp. 347-355, 2006.
Data files:
References
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