CPG Network Optimization for a Biomimetic Robotic Fish via PSO

doi:10.1109/TNNLS.2015.2459913

	CPG Network Optimization for a Biomimetic Robotic Fish via PSO
	Yu, Junzhi1 ; Wu, Zhengxing1 ; Wang, Ming 2; Tan, Min1
发表期刊	IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
	2016-09-01
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
DOI	10.1109/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	被引频次：77[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/12626
专题	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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.

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