CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
CPG Network Optimization for a Biomimetic Robotic Fish via PSO
Yu, Junzhi1; Wu, Zhengxing1; Wang, Ming2; Tan, Min1
Source PublicationIEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
2016-09-01
Volume27Issue:9Pages:1962-1968
SubtypeArticle
AbstractIn 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.
KeywordCentral Pattern Generator (Cpg) Neurodynamic Systems Parameter Optimization Robotic Fish
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TNNLS.2015.2459913
WOS KeywordCENTRAL PATTERN GENERATOR ; PARTICLE SWARM OPTIMIZATION ; LOCOMOTION CONTROL ; DESIGN ; OSCILLATORS ; MECHANICS ; MODELS
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic
WOS IDWOS:000382175500013
Citation statistics
Cited Times:20[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12626
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
Affiliation1. 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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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