Knowledge Commons of Institute of Automation,CAS
CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming | |
Wang, Ming 1; Yu, Junzhi 2; Tan, Min 2 | |
发表期刊 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS |
2014-10-20 | |
卷号 | 11 |
文章类型 | Article |
摘要 | Sensory feedback plays a very significant role in the generation of diverse and stable movements for animals. In this paper we describe our effort to develop a Central Pattern Generator (CPG)-based sensory feedback control for the creation of multimodal swimming for a multi-articulated robotic fish in the context of neurocomputing. The proposed control strategy is composed of two phases: the upper decision-making and the automatic adjustment. According to the upper control commands and the sensory inputs, different swimming gaits are determined by a finite state machine algorithm. At the same time, the sensory feedback is exploited to shape the CPG coupling forms and control parameters. In the automatic adjustment phase, the CPG model with sensory feedback will adapt the environment autonomously. Simulation and underwater tests are further conducted to verify the presented control scheme. It is found that the CPG-based sensory feedback control method can effectively improve the manoeuvrability and adaptability of the robotic fish in water. |
关键词 | Central Pattern Generator (Cpg) Sensory Feedback Robotic Fish Neurocomputing Swimming Control |
WOS标题词 | Science & Technology ; Technology |
关键词[WOS] | ANGUILLIFORM ROBOTIC FISH ; LOCOMOTION ; GENERATOR ; LAMPREY ; DESIGN ; MOTION ; MODELS |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:000343307000001 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/3491 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Yu, Junzhi |
作者单位 | 1. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China 2. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China |
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 | Wang, Ming ,Yu, Junzhi ,Tan, Min . CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2014,11. |
APA | Wang, Ming ,Yu, Junzhi ,&Tan, Min .(2014).CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,11. |
MLA | Wang, Ming ,et al."CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 11(2014). |
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