Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model
Yuan, Jun; Yu, Junzhi; Wu, Zhengxing; Tan, Min
2015
会议名称IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议录名称2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期December 6, 2015 - December 9, 2015
会议地点Zhuhai, China
摘要This paper presents a novel approach on swimming performance improvement for a bio-inspired robotic fish. The main idea of this approach lies in optimizing the oscillator phase differences of a central pattern generator (CPG) model, which governs the rotation of the joints. Definitely, the swimming performance includes steady forward velocity, head stability, and energy-efficiency. A dynamic model is firstly built to describe the swimming motion of the robotic fish. Taking advantage of the dynamic model, we analyze the influence on the swimming performance exerted bythe phase differences. Specifically, two conditions are studied and compared together: consistent and inconsistent phase differences. To the best ofour knowledge, this issue has not been addressed in previous literature sufficiently. The optimal swimming performance is searched under both ofthe conditions. Simulation results reveal that the CPG model with inconsistent phase differences is able to realize better swimming performance, especially for head stability and energy-efficiency.
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13042
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Yuan, Jun,Yu, Junzhi,Wu, Zhengxing,et al. Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model[C],2015.
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