CPG Parameter Search for a Biomimetic Robotic Fish Based on Particle Swarm Optimization

	CPG Parameter Search for a Biomimetic Robotic Fish Based on Particle Swarm Optimization
	Wu Zhengxing; Yu Junzhi; Tan Min
	2013
会议名称	IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO)
会议录名称	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
会议日期	2012.12
会议地点	Guangzhou, China
摘要	This paper addresses the parameter search issue of a Central Pattern Generator (CPG) governed fishlike swimming. Since the CPG parametersinvolving amplitudes, frequencies, and phase lags are closely related to the propulsive performance, an idea optimizing the CPG characteristic parameters for the maximum propulsive speed is formed and implemented. Specifically, a dynamic model of robotic fish swimming using Kane's method is developed to guide the primary parameter search. A particle swarmoptimization (PSO) algorithm is further employed to optimize the CPGparameters for an enhanced performance. Numerical simulations and roboticexperiments superior to previously published results are finally given, validating the effectiveness of the PSO-based search scheme.
关键词	Search Problems Biomimetics Hydrodynamics Marine Propulsion Mobile Robots Particle Swarm Optimisation Robot Dynamics
收录类别	EI
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4951
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wu Zhengxing
推荐引用方式 GB/T 7714	Wu Zhengxing,Yu Junzhi,Tan Min. CPG Parameter Search for a Biomimetic Robotic Fish Based on Particle Swarm Optimization[C],2013.

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