Modeling, simulation, and development of a robotic dolphin prototype

Dogangil G., Ozcicek E., Kuzucu A.

IEEE International Conference on Mechatronics Automation, Niagara Falls, Canada, 29 July - 01 August 2005, pp.952-957 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Niagara Falls
  • Country: Canada
  • Page Numbers: pp.952-957
  • Istanbul Technical University Affiliated: No


Abilities of sea animals and efficiency of fish swimming are a few of the impressive solutions of the Nature. In this paper, design, modeling, simulation and development studies of a robotic dolphin prototype, entirely inspired by the bottle-nose dolphin (Tursiops truncatus), are presented. The first section focuses on the design principles and core design features of the prototype. In the second section, modeling and simulation studies which consist of hydrodynamics, kinematics and dynamical analysis of the robotic dolphin are presented. Dynamical simulations of the underwater behavior of the prototype are included in this section. The third section focuses on the general prototype development from mechanical construction to control system structure. Finally in the last section, experimental results obtained through the development of the prototype are discussed.