Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,
Zhao, Wei; Yu, Junzhi; Fang, Yimin; Wang, Long
2006
会议名称2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
会议录名称IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
会议日期October 9, 2006 - October 15, 2006
会议地点Beijing, China
摘要This paper presents the construction and motion control of a biologically inspired, multi-mode biomimetic robotic fish capable of three-dimensional locomotion. The mechanical configuration and the control system are described. The rhythmic movements of swimming are driven by the biological neural networks, called the central pattern generators (CPGs). The CPGs are modeled as nonlinear oscillators for joints and inter-joint coordination is achieved by altering the connection weights between joints. The CPG-based online gait generation method allows elegant and smooth transitions between swimming gaits, which result in multi-mode swimming to implement more lifelike locomotion. Several swimming modes can be obtained to mimic diverse actions of the real fish in nature, or designed according to special assignments by changing CPG parameters. The up-and-down motion can be implemented by adjusting the rotating angle of pectoral fins. The depth of the robotic fish is controlled utilizing a proportional-integral-derivative (PID) control algorithm according to the feedback of depth information measured by the sonar sensor installed at the bottom of the fish. The experimental results confirm the effectiveness of the control methods.
关键词Biomimetic Robotic Fish Intelligent Machines Robot Design Central Pattern Generator Control Multi-mode
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13074
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Zhao, Wei
作者单位Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China.(2)Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
推荐引用方式
GB/T 7714
Zhao, Wei,Yu, Junzhi,Fang, Yimin,et al. Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,[C],2006.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Zhao, Wei]的文章
[Yu, Junzhi]的文章
[Fang, Yimin]的文章
百度学术
百度学术中相似的文章
[Zhao, Wei]的文章
[Yu, Junzhi]的文章
[Fang, Yimin]的文章
必应学术
必应学术中相似的文章
[Zhao, Wei]的文章
[Yu, Junzhi]的文章
[Fang, Yimin]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

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。