Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,

	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	复杂系统认知与决策实验室_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
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	Zhao, Wei,Yu, Junzhi,Fang, Yimin,et al. Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,[C],2006.