Energy Analysis of a CPG-controlled Miniature Robotic Fish

doi:10.1007/s42235-018-0020-1

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

	Energy Analysis of a CPG-controlled Miniature Robotic Fish
	Yu, Junzhi1 ; Chen, Shifeng 1,2; Wu, Zhengxing1 ; Chen, Xingyu1,2 ; Wang, Ming 3
刊名	JOURNAL OF BIONIC ENGINEERING
	2018-03-01
卷号	15 期号:2 页码:260-269
关键词	Bionic Robotic Fish Energy Analysis Central Pattern Generator (Cpg) Swimming Motion Control
DOI	10.1007/s42235-018-0020-1
文献子类	Article
英文摘要	Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator (CPG) based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.
WOS关键词	IMPLEMENTATION ; LOCOMOTION ; SYSTEMS ; MODELS
WOS研究方向	Engineering ; Materials Science ; Robotics
语种	英语
WOS记录号	WOS:000428289600006
资助机构	National Natural Science Foundation of China(61725305 ; Beijing Natural Science Foundation(4161002 ; 61573226 ; 4164103) ; 61763042 ; 61663040)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/22000]
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	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Shandong, Peoples R China
推荐引用方式 GB/T 7714	Yu, Junzhi,Chen, Shifeng,Wu, Zhengxing,et al. Energy Analysis of a CPG-controlled Miniature Robotic Fish[J]. JOURNAL OF BIONIC ENGINEERING,2018,15(2):260-269.
APA	Yu, Junzhi,Chen, Shifeng,Wu, Zhengxing,Chen, Xingyu,&Wang, Ming.(2018).Energy Analysis of a CPG-controlled Miniature Robotic Fish.JOURNAL OF BIONIC ENGINEERING,15(2),260-269.
MLA	Yu, Junzhi,et al."Energy Analysis of a CPG-controlled Miniature Robotic Fish".JOURNAL OF BIONIC ENGINEERING 15.2(2018):260-269.