The authors propose the design and control of a biologically-inspired biomimetic robotic fish capable of three-dimensional locomotion. The mechanical configuration and the hardware system of the robotic fish are described. The control architecture of the robotic fish is constructed based on central pattern generator (CPG). A model for a system of coupled non-linear oscillators is established to construct CPG and has been successfully applied to the four-link robotic fish. The CPGs are modeled as non-linear oscillators for joints and inter-joint coordination is achieved by altering the connection weights between joints. Coordinated gait patterns of rhythmic movements for swimming can be produced by modulating simple control parameters in the CPG model. The CPG-based method shows elegant and smooth transitions between swimming gaits, and enhanced ability to cope with transient perturbations because of non-linear characteristic. A series of swimming tests are designed to give speed evaluation and turning maneuver analysis. The effectiveness of the proposed method is confirmed via simulation and some experimental results.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design and CPG-based control of biomimetic robotic fish


    Contributors:
    Zhao, W. (author) / Hu, Y. (author) / Zhang, L. (author) / Wang, L. (author)

    Published in:

    Publication date :

    2009


    Size :

    13 Seiten, 32 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Research on Horizontal Path Tracking Control of a Biomimetic Robotic Fish

    Liu, Jinhao / Song, Xiaoru / Gao, Song et al. | IEEE | 2022


    Coordinated control of two biomimetic robotic fish in pushing-object task

    Zhang, D. / Wang, L. / Yu, J. | Tema Archive | 2007


    Motion control method and system for biomimetic robotic fish based on adversarial structured control

    WU ZHENGXING / YU JUNZHI / YAN SHUAIZHENG et al. | European Patent Office | 2021

    Free access

    Experimental investigation of biomimetic robotic fish actuated by IPMC

    Qi, Shen / Chenhao, Han / Tianmiao, Wang et al. | British Library Online Contents | 2014


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

    Korkmaz, Deniz / Ozmen Koca, Gonca / Li, Guoyuan et al. | Taylor & Francis Verlag | 2021