The invention provides a swimming control system of a bionic robotic ray, which comprises a shell, a left pectoral fin and a right pectoral fin which are respectively positioned on two sides of the shell, and a tail fin positioned at the tail part of the shell, and the left pectoral fin comprises a plurality of first waterproof steering engines which are mutually connected through connecting pieces to serve as a plurality of joints of the left pectoral fin; the right pectoral fin comprises a plurality of second waterproof steering engines which are mutually connected through connecting pieces and serve as a plurality of joints of the right pectoral fin; the tail fin comprises a third waterproof steering engine which is fixedly connected with the shell and serves as a joint of the tail fin; wherein each joint is controlled by a double-layer CPG to rotate. A double-layer CPG network topological structure is adopted, so that the bionic machine ray can adapt to more complex rhythmic motion, the time for reaching a target phase and the synchronization time during neuron coupling are shortened, the robustness of the rhythmic motion of the bionic machine ray is improved, and the bionic machine ray can simulate multiple motion modes of a biological ray more vividly.

    本发明提供一种仿生机器鳐鱼的游动控制系统,包括壳体、分别位于壳体两侧的左胸鳍和右胸鳍以及位于壳体尾部的尾鳍,左胸鳍包括多个通过连接件相互连接的第一防水舵机,以作为左胸鳍的多个关节;右胸鳍包括多个通过连接件相互连接的第二防水舵机,以作为右胸鳍的多个关节;尾鳍包括与壳体固定连接的第三防水舵机,以作为尾鳍的关节;其中每个关节均由双层级CPG控制转动。采用双层级CPG网络拓扑结构,使仿生机器鳐鱼能适应更复杂的节律性运动,并减少神经元耦合时到达目标相位的时间和同步时间,提升仿生机器鳐鱼节律运动的鲁棒性,使其更加逼真地模拟生物鳐鱼的多种运动模态。


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    Title :

    Swimming control system of bionic robotic ray


    Additional title:

    一种仿生机器鳐鱼的游动控制系统


    Contributors:
    SUN YIHAN (author) / ZHANG YING (author) / QIAO GUIFANG (author) / CAO JIAYU (author) / LIU DI (author)

    Publication date :

    2023-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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