An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments

PROJECT TITLE :

An Integrative Control Method for Bio-Inspired Dolphin Leaping: Design and Experiments

ABSTRACT:

This paper presents the design and implementation of leaping management ways for replicating high-speed dolphin leaping behavior. With full thought of both mechanical configuration and propulsive principle of a physical robot comprising one neck joint, two propulsive joints, and a try of 2-degrees-of-freedom (2-DOF) mechanical flippers, closed-loop pitch, roll, yaw, and depth management strategies are integrated to accomplish precise perspective control. Specifically, two pitch control strategies are proposed to separately satisfy small and large pitch needs primarily based on the important-time feedback of the pitch angle, while the roll controller is any implemented as a proportional-integral-by-product (PID) loop. A combination of pitch and roll management is utilised to regulate the specified pitch maneuvers. Finally, a parameterized five-part leaping management algorithm instead of Weihs's three-part porpoising model is implemented on the self-contained real robot, enabling the examination of biological leaping phenomena that are onerous to observe or measure. Latest experimental results reveal that besides high speeds exceeding the minimum exit speeds, the pitch control closely related to pitch angle and submersion depth is another critical factor contributing to effective dolphin leaping.

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