CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
CPG Parameter Search for a Biomimetic Robotic Fish Based on Particle Swarm Optimization
Wu Zhengxing; Yu Junzhi; Tan Min
2013
Conference NameIEEE International Conference on Robotics and Biomimetics (IEEE ROBIO)
Source Publication2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Conference Date2012.12
Conference PlaceGuangzhou, China
AbstractThis 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.
KeywordSearch Problems Biomimetics Hydrodynamics Marine Propulsion Mobile Robots Particle Swarm Optimisation Robot Dynamics
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4951
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWu Zhengxing
Recommended Citation
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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