|吴正兴; 喻俊志; 谭民
|其他摘要||This paper presents and compares two classes of backward swimming control methods for a biomimetic carangiform robotic ¯sh. One is based on the traditional ¯sh body wave equation, in which the body wave equation is inverted to generate a forward propagated travelling wave. The other is based on the bio-inspired central pattern generator (CPG) controller outputting rhythmic joint signals. The latter can further be divided into two subclasses: 1) phase-inverted CPG control, in which the phase relationship of forward swimming is inverted; 2) phase-amplitude-inverted CPG control, in which both phase relationship and amplitude are reversed. Analysis, simulation, and experiments are carried out on these three backward swimming control methods. Testing results show that the phase-inverted CPG control can result in a maximum backward speed, accompanied with a largest disturbance; the body wave based backward swimming control and phase-amplitude-inverted CPG control may lead to a similar maximum backward speed and smaller disturbance. In addition, when switching the oscillatory frequency in the body wave based backward swimming control, dithering will occur, and a special transition function to eliminate this phenomenon; while the dithering disappears in the CPG-based backward swimming controls. The above results will shed light on the enhancement of the maneuverability of the swimming robots.|
|关键词||Biomimetic Robotic ¯sh
Central Pattern Generator (Cpg)
吴正兴,喻俊志,谭民. 两类仿鲹科机器鱼倒游运动控制方法的对比研究[J]. 自动化学报,2013,39(12):2032–2042.
吴正兴,et al."两类仿鲹科机器鱼倒游运动控制方法的对比研究".自动化学报 39.12(2013):2032–2042.