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Energy Analysis of a CPG-controlled Miniature Robotic Fish
Yu, Junzhi1; Chen, Shifeng1,2; Wu, Zhengxing1; Chen, Xingyu1,2; Wang, Ming3
AbstractBionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator (CPG) based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.
KeywordBionic Robotic Fish Energy Analysis Central Pattern Generator (Cpg) Swimming Motion Control
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Funding OrganizationNational Natural Science Foundation of China(61725305 ; Beijing Natural Science Foundation(4161002 ; 61573226 ; 4164103) ; 61763042 ; 61663040)
WOS Research AreaEngineering ; Materials Science ; Robotics
WOS SubjectEngineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS IDWOS:000428289600006
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Shandong, Peoples R China
Recommended Citation
GB/T 7714
Yu, Junzhi,Chen, Shifeng,Wu, Zhengxing,et al. Energy Analysis of a CPG-controlled Miniature Robotic Fish[J]. JOURNAL OF BIONIC ENGINEERING,2018,15(2):260-269.
APA Yu, Junzhi,Chen, Shifeng,Wu, Zhengxing,Chen, Xingyu,&Wang, Ming.(2018).Energy Analysis of a CPG-controlled Miniature Robotic Fish.JOURNAL OF BIONIC ENGINEERING,15(2),260-269.
MLA Yu, Junzhi,et al."Energy Analysis of a CPG-controlled Miniature Robotic Fish".JOURNAL OF BIONIC ENGINEERING 15.2(2018):260-269.
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