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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    Title :

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


    Contributors:

    Published in:

    Publication date :

    2021-03-15


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown



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