Design of an artificial bionic neural network to control fish-robot's locomotion
Design of an artificial bionic neural network to control fish-robot's locomotion
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DOI：
10.1016/j.neucom.2007.09.007
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发表时间：
2008
期刊：
影响因子：
6
通讯作者：
Daibing Zhang;D. Hu;Lincheng Shen;Haibin Xie
中科院分区：
文献类型：
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作者：
Daibing Zhang;D. Hu;Lincheng Shen;Haibin Xie
提出了一种控制鱼机器人运动的人工仿生神经网络。这款鱼机器人的灵感来自于“niloticus Gymnarchus”，它被建模为一个多关节动力系统，由多个电机组成，并具有并联连接。分析了控制鱼类运动的中心模式发生器的工作原理。设计了一种与生物CPGs有许多相似之处的人工神经网络来控制鱼类机器人。启动、停止、向前游泳和向后游泳的实验结果表明了该方法的有效性和有效性。
An artificial bionic neural network to control fish-robot locomotion is presented. The fish-robot, which is inspired from “Gymnarchus niloticus”, is modeled as a multi-joint dynamic system with parallel connections and composed of several motors. The principle of the central pattern generators (CPGs) governing the locomotion of fish is analyzed. An artificial neural network which has many comparability with the biological CPGs is designed to control the fish-robot. Experimental results of startup, stop, forward swimming and backward swimming show its validity and efficiency.