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.


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    Titel :

    Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model


    Beteiligte:
    Korkmaz, Deniz (Autor:in) / Ozmen Koca, Gonca (Autor:in) / Li, Guoyuan (Autor:in) / Bal, Cafer (Autor:in) / Ay, Mustafa (Autor:in) / Akpolat, Zuhtu Hakan (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2021-03-15


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt



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