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

This paper presents the design and implementation of leaping control methods for replicating high-speed dolphin leaping behavior. With full consideration of both mechanical configuration and propulsive principle of a physical robot comprising one neck joint, two propulsive joints, and a pair of two-degrees-of-freedom (2-DOF) mechanical flippers, closed-loop pitch, roll, yaw, and depth control meth...