A CPG-based sensory feedback control method for robotic fish locomotion

	A CPG-based sensory feedback control method for robotic fish locomotion
	Wang Ming; Yu Junzhi; Tan Min; Zhang Guiqing
	2011
会议名称	30th Chinese Control Conference
会议录名称	Proceedings of the 30th Chinese Control Conference, CCC 2011
页码	4115-4120
会议日期	2011.07
会议地点	Yantai, China
摘要	This paper deals with a Center Pattern Generator (CPG) centered sensory feedback control method for robotic fish locomotion, which improves the maneuverability and adaptability of robotic fish in water. A two-phase CPG-based control architecture to implement the autonomous locomotion in robotic fish has been proposed. The whole process of the control architecture is divided into two phases: the upper decision-making and the automatic adjustment. According to the upper command from the controller and the sensory input, a proposed finite state machine algorithm determines locomotion gaits such as straight forward/backward, turning left/right, floating up/swimming down, and so on, and modify the coupling forms and controlling parameters. And then, the CPG model with sensory feedback takes charge the autonomous locomotion control. This sensory feedback control method can improve the adaptation of the system to environmental changes, external requirements, or proprioceptive information. Corresponding experimental results validate the CPG-based sensory feedback control method, which can be extended to other robotic applications.
关键词	Swimming Control cpg sensory Feedback robotic Fish environmental Sensing
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4828
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wang Ming
推荐引用方式 GB/T 7714	Wang Ming,Yu Junzhi,Tan Min,et al. A CPG-based sensory feedback control method for robotic fish locomotion[C],2011:4115-4120.