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Fish-inspired swimming simulation and robotic implementation
Yu Junzhi; Tan Min; Zhang Jianwei
Conference NameISR/ROBOTIK 2010
Source Publication2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Conference Date2010.06
Conference PlaceMunich, Germany
AbstractThis paper presents an overview of the Central Pattern Generator (CPG) based control models as well as their applications to various multi-joint or multi-DOF robots. The motivation is to provide a relevant and practical guide to the existing literature for engineers with an interest in the emerging CPG-based biocybernetics approach. The CPGs function as a biological neural network with the great capability of producing stable rhythmic patterns that are robust against external perturbations. Some conventional models to emulate CPG network are firstly reviewed, and their merits and faults are analyzed. Combined the current stage of CPG-based locomotion control with its critical issues, a two-phase control architecture is formed to accomplish autonomous motions in dynamic environments. The developing prospect of the CPG-based control is finally outlined in the context of bio-robotics.
KeywordMarine Animals  propulsion  robot Kinematics  oscillators  three Dimensional Displays Skeleton
Document Type会议论文
Corresponding AuthorYu Junzhi
Recommended Citation
GB/T 7714
Yu Junzhi,Tan Min,Zhang Jianwei. Fish-inspired swimming simulation and robotic implementation[C],2010.
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