This paper presents mechatronic design and hierarchical locomotion control of a biomimetic robotic fish for three-dimensional swimming modes. Inspired by biological features of Lamprey, a closed loop sensory feedback Central Pattern Generator (CPG) model is adapted to hierarchical control mechanism in order to provide robust and effective biomimetic control structure. A sensory feedback mechanism plays an important role to react external stimuli from environment. In addition, a closed loop fuzzy logic control structure is developed as a brain model to decide adaptive swimming modes according to sensory information. In order to provide three-dimensional motion abilities, the Centre of Gravity (CoG) control mechanism is designed and controlled by a back-forth proportional control structure. Experimental results are obtained to prove the CPG-based closed loop sensory feedback control structure with the developed robotic fish prototype.
Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model
Journal of Marine Engineering & Technology ; 20 , 2 ; 125-137
2021-03-15
13 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Unbekannt
Design and CPG-based control of biomimetic robotic fish
Tema Archiv | 2009
|NEUROMECHANICAL MODEL-BASED CLOSED-LOOP CONTROL OF LOCOMOTION VIA MUSCLE REFLEXES AND SYNERGIES
BASE | 2021
|Locomotion and depth control of robotic fish with modular undulating fins
British Library Online Contents | 2006
|Review of gait control and closed-loop motion control methods for bionic robotic fish
DOAJ | 2024
|