CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming

	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	被引频次：26[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/173211/3491
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).