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Three-Dimensional Swimming

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4 Author(s)
Junzhi Yu ; Lab. of Complex Syst. & Intell. Sci., Inst. of Autom., Beijing, China ; Ming Wang ; Min Tan ; Jianwei Zhang

This article describes a self-propelled dolphin robot that aims to create a stable and controllable experimental platform. A viable bioinspired approach to generate diverse instances of dolphin-like swimming online via a center pattern generator (CPG) network is proposed.The characteristic parameters affecting three-dimensional (3-D) swimming performance are further identified and discussed. Both interactive and programmed swimming tests are provided to illustrate the validity of the present scheme.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:18 ,  Issue: 4 )

Date of Publication:

Dec. 2011

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