Motion control of a robot fish based on CPG
Motion control of a robot fish based on CPG
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DOI：
10.1109/icit.2005.1600829
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发表时间：
2005-12
期刊：
影响因子：
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通讯作者：
Long Wang;Shuo Wang;Zhiqiang Cao;M. Tan;Chao Zhou;Haiquan Sang;Zhizhong Shen
中科院分区：
文献类型：
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作者：
Long Wang;Shuo Wang;Zhiqiang Cao;M. Tan;Chao Zhou;Haiquan Sang;Zhizhong Shen
本文研制了一种由鱼体、双连杆鱼尾和两个二自由度胸鳍组成的机器鱼。为了使机器鱼探测障碍物和感知自己的姿态，三个红外传感器和一个陀螺仪固定在鱼的身体。并设计了一个由四个神经元振子组成的具有感觉信息反馈的人工CPG控制器。该控制器可以产生节奏指令，驱动胸鳍和尾鳍反复拍动。根据CPG模型参数与机器人运动模式的关系，设计了两种反馈策略，分别控制机器人的俯仰运动和转弯运动。仿真结果表明了CPG模型和反馈策略的适用性和有效性
In this paper, we developed a robot fish consisting of a fish body, a two-linked fish tail and two 2-DOF pectoral fins. In order to make robot fish detect obstacles and perceive its postures, three infrared sensors and a gyro are fixed on the fish body. And an artificial CPG controller consists of four neural oscillators with sensory information feedback have been designed. This controller can generate rhythm instructions that can drive pectoral fins and tail fin flapping repeatedly. According to the relationship between motion patterns and parameters of CPG model, two feedback strategies are designed to control pitching and turning locomotion respectively. Simulations we have conducted show the applicability and validity of CPG model and feedback strategies