Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,
	Zhao, Wei; Yu, Junzhi; Fang, Yimin; Wang, Long
	2006
会议名称	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
会议日期	October 9, 2006 - October 15, 2006
会议地点	Beijing, China
关键词	Biomimetic robotic fish intelligent machines robot design Central Pattern Generator control multi-mode
通讯作者	Zhao, Wei
英文摘要	This paper presents the construction and motion control of a biologically inspired, multi-mode biomimetic robotic fish capable of three-dimensional locomotion. The mechanical configuration and the control system are described. The rhythmic movements of swimming are driven by the biological neural networks, called the central pattern generators (CPGs). The CPGs are modeled as nonlinear oscillators for joints and inter-joint coordination is achieved by altering the connection weights between joints. The CPG-based online gait generation method allows elegant and smooth transitions between swimming gaits, which result in multi-mode swimming to implement more lifelike locomotion. Several swimming modes can be obtained to mimic diverse actions of the real fish in nature, or designed according to special assignments by changing CPG parameters. The up-and-down motion can be implemented by adjusting the rotating angle of pectoral fins. The depth of the robotic fish is controlled utilizing a proportional-integral-derivative (PID) control algorithm according to the feedback of depth information measured by the sonar sensor installed at the bottom of the fish. The experimental results confirm the effectiveness of the control methods.
会议录	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13074]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China.(2)Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
推荐引用方式 GB/T 7714	Zhao, Wei,Yu, Junzhi,Fang, Yimin,et al. Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,[C]. 见:2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. Beijing, China. October 9, 2006 - October 15, 2006.