@article {Yu:March 2007:0169-1864:499,
	author = "Yu, Junzhi",
	author = "Hu, Yonghui",
	author = "Fan, Ruifeng",
	author = "Wang, Long",
	author = "Huo, Jiyan",
	title = "Mechanical design and motion control of a biomimetic robotic dolphin",
	journal = "Advanced Robotics",
	volume = "21",
	year = "March 2007",
	abstract = "This paper addresses the design, construction and control issues of a novel biomimetic robotic dolphin equipped with mechanical flippers, based on an engineered propulsive model. The robotic dolphin is modeled as a three-segment organism composed of a rigid anterior body, a flexible rear body and an oscillating fluke. The dorsoventral movement of the tail produces the thrust and bending of the anterior body in the horizontal plane enables turning maneuvers. A dual-microcontroller structure is adopted to drive the oscillating multi-link rear body and the mechanical flippers. Experimental results primarily confirm the effectiveness of the dolphin-like movement in propulsion and maneuvering.",
	pages = "499-513(15)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2007/00000021/F0020003/art00012"
	doi = "doi:10.1163/156855307780131974"
}