The invention provides a motion control method, device and equipment of a fish-imitating robot and the fish-imitating robot. The motion control method comprises the steps that the target motion speed of the fish-imitating robot and coded data of a target motion mode are acquired; inputting the coded data of the target motion speed and the target motion mode into a neural network model to obtain fluctuation fin parameters output by the neural network model; controlling a fluctuating fin of the fish-imitating robot to generate sine waves based on fluctuating fin parameters output by the neural network model, so that the fish-imitating robot moves at a target movement speed and a target movement mode; wherein the neural network model is obtained by training a plurality of training samples, and each training sample comprises a group of sample fluctuation fin parameters, and a sample motion mode and a sample motion speed corresponding to the sample fluctuation fin parameters. By adopting the technical scheme, the problem that the movement speed and the movement mode of the underwater robot cannot be accurately controlled in the prior art is solved.
本发明提供一种仿鱼机器人的运动控制方法、装置、设备及仿鱼机器人,包括:获取仿鱼机器人的目标运动速度和目标运动模态的编码数据;将目标运动速度和目标运动模态的编码数据输入至神经网络模型,得到神经网络模型输出的波动鳍参数;基于神经网络模型输出的波动鳍参数控制仿鱼机器人的波动鳍产生正弦波,使得仿鱼机器人以目标运动速度和目标运动模态运动;其中,神经网络模型是通过多个训练样本训练得到的,每个训练样本包括一组样本波动鳍参数及样本波动鳍参数对应的样本运动模态和样本运动速度。采用上述技术方案,解决了现有技术中不能精确控制水下机器人的运动速度和运动模态的问题。
Fish-imitating robot motion control method, device and equipment and fish-imitating robot
仿鱼机器人的运动控制方法、装置、设备及仿鱼机器人
2025-03-11
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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European Patent Office | 2022
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