Design and Simulation of a Bio-Inspired Rigid-Soft Hybrid Robotic Blimp

被引：1
|
作者：
Ye, Shimi [1 ]
Zhang, Jun [1 ]
Lu, Qiucheng [1 ]
Xiao, Yi [1 ]
Yuan, Jing [1 ]
Hu, Shui [1 ]
机构：
[1] Southeast Univ, Sch Instrument Sci & Engn, State Key Lab Bioelect, Nanjing 210096, Peoples R China
来源：
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022) | 2022年
基金：
中国国家自然科学基金;
关键词：
AIRSHIP;
D O I：
10.1109/ICARM54641.2022.9959638
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Animals with rigid bones and soft muscles can safely and agilely negotiate in complicated environments. This work presents a bio-inspired rigid-soft hybrid robotic blimp with the advantages of long-time operation and safe interaction with obstacles and humans in an indoor cluster environment for search and rescue, etc. First, considering the blimp's symmetrical structure and low speed, its kinematic and dynamic models are simplified, and three basic motions are described. Then, we design cascade PID controllers to realize one-dimensional motions and steering of the blimp. In addition, 2D planar motions and 3D motions are achieved using the combination of the three basic motions. Finally, MATLAB-Simulink is used to realize the control scheme, and good simulation results are obtained, which verify the design feasibility and controller performance of the robotic blimp.
引用
收藏
页码：599 / 604
页数：6
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