CASIA OpenIR
Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO
Wang, Ming1; Dong, Huifang1; Li, Xu1; Zhang, Yanlu1; Yu, Junzhi2,3
Source PublicationNEUROCOMPUTING
ISSN0925-2312
2019-04-14
Volume337Pages:144-152
Corresponding AuthorYu, Junzhi(junzhi.yu@ia.ac.cn)
AbstractSwimming speed and propulsive efficiency are critical indicators of a self-propelled bionic robotic fish in terms of swimming performance. This paper is devoted to achieving a maximum swimming speed and a higher propulsive efficiency for a four-joint robotic fish. A Newton-Euler method based dynamic model in conjunction with a central pattern generator (CPG) network serves to theoretically estimate fish-like swimming performance. In particular, each CPG unit based on limit cycles serves to drive one joint of the robotic fish. The overall CPG model is able to generate rhythmic signals for multimode swimming. To obtain the maximum average speed, a particle swarm optimization (PSO) algorithm is further utilized to optimize the feature parameters of the CPG model. Furthermore, the higher propulsive efficiency is sought within the same control framework. Simulations and experiments on the actual robotic fish demonstrate the improved propulsive performance and the effectiveness of the proposed control framework. (C) 2019 Elsevier B.V. All rights reserved.
KeywordCentral pattern generator (CPG) Motion optimization Bionic robotic fish Dynamic modeling PSO
DOI10.1016/j.neucom.2019.01.062
WOS KeywordDESIGN
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61573226] ; National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[61633017] ; Beijing Natural Science Foundation[4161002]
Funding OrganizationNational Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence
WOS IDWOS:000461165400012
PublisherELSEVIER SCIENCE BV
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/24983
Collection中国科学院自动化研究所
Corresponding AuthorYu, Junzhi
Affiliation1.Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Shandong, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Wang, Ming,Dong, Huifang,Li, Xu,et al. Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO[J]. NEUROCOMPUTING,2019,337:144-152.
APA Wang, Ming,Dong, Huifang,Li, Xu,Zhang, Yanlu,&Yu, Junzhi.(2019).Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO.NEUROCOMPUTING,337,144-152.
MLA Wang, Ming,et al."Control and Optimization of a Bionic Robotic Fish Through a Combination of CPG model and PSO".NEUROCOMPUTING 337(2019):144-152.
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