Energy Analysis of a CPG-controlled Miniature Robotic Fish
Yu, Junzhi1; Chen, Shifeng1,2; Wu, Zhengxing1; Chen, Xingyu1,2; Wang, Ming3
2018-03-01
发表期刊JOURNAL OF BIONIC ENGINEERING
卷号15期号:2页码:260-269
文章类型Article
摘要Bionic 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.
关键词Bionic Robotic Fish Energy Analysis Central Pattern Generator (Cpg) Swimming Motion Control
WOS标题词Science & Technology ; Technology
DOI10.1007/s42235-018-0020-1
关键词[WOS]IMPLEMENTATION ; LOCOMOTION ; SYSTEMS ; MODELS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61725305 ; Beijing Natural Science Foundation(4161002 ; 61573226 ; 4164103) ; 61763042 ; 61663040)
WOS研究方向Engineering ; Materials Science ; Robotics
WOS类目Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS记录号WOS:000428289600006
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/22000
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.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
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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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