CPG Network Optimization for a Biomimetic Robotic Fish via PSO
Yu, Junzhi1; Wu, Zhengxing1; Wang, Ming2; Tan, Min1
2016-09-01
发表期刊IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
卷号27期号:9页码:1962-1968
文章类型Article
摘要In this brief, we investigate the parameter optimization issue of a central pattern generator (CPG) network governed forward and backward swimming for a fully untethered, multijoint biomimetic robotic fish. Considering that the CPG parameters are tightly linked to the propulsive performance of the robotic fish, we propose a method for determination of relatively optimized control parameters. Within the framework of evolutionary computation, we use a combination of dynamic model and particle swarm optimization (PSO) algorithm to seek the CPG characteristic parameters for an enhanced performance. The PSO-based optimization scheme is validated with extensive experiments conducted on the actual robotic fish. Noticeably, the optimized results are shown to be superior to previously reported forward and backward swimming speeds.
关键词Central Pattern Generator (Cpg) Neurodynamic Systems Parameter Optimization Robotic Fish
WOS标题词Science & Technology ; Technology
DOI10.1109/TNNLS.2015.2459913
关键词[WOS]CENTRAL PATTERN GENERATOR ; PARTICLE SWARM OPTIMIZATION ; LOCOMOTION CONTROL ; DESIGN ; OSCILLATORS ; MECHANICS ; MODELS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; Project-Based Personnel Exchange Programme ; CSC ; DAAD ; State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources(LAPS16006) ; 61333016)
WOS研究方向Computer Science ; Engineering
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic
WOS记录号WOS:000382175500013
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12626
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi
作者单位1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing
2.100190, China
3.School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan
4.250101, China
推荐引用方式
GB/T 7714
Yu, Junzhi,Wu, Zhengxing,Wang, Ming,et al. CPG Network Optimization for a Biomimetic Robotic Fish via PSO[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2016,27(9):1962-1968.
APA Yu, Junzhi,Wu, Zhengxing,Wang, Ming,&Tan, Min.(2016).CPG Network Optimization for a Biomimetic Robotic Fish via PSO.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,27(9),1962-1968.
MLA Yu, Junzhi,et al."CPG Network Optimization for a Biomimetic Robotic Fish via PSO".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 27.9(2016):1962-1968.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
74-CPG Network Optim(1219KB)期刊论文作者接受稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Yu, Junzhi]的文章
[Wu, Zhengxing]的文章
[Wang, Ming]的文章
百度学术
百度学术中相似的文章
[Yu, Junzhi]的文章
[Wu, Zhengxing]的文章
[Wang, Ming]的文章
必应学术
必应学术中相似的文章
[Yu, Junzhi]的文章
[Wu, Zhengxing]的文章
[Wang, Ming]的文章
相关权益政策
暂无数据
收藏/分享
文件名: 74-CPG Network Optimization for a Biomimetic Robotic Fish via PSO.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。