Knowledge Commons of Institute of Automation，CAS
| 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 | 复杂系统认知与决策实验室_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. |
| 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 | ||
| Enhancing Swimming P（432KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
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。
修改评论