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

作     者：Wang, Ming Yu, Junzhi Tan, Min 

作者机构：Shandong Jianzhu Univ Sch Informat & Elect Engn Jinan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China 

出 版 物：《INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS》 (国际先进机器人系统杂志)

年 卷 期：2014年第11卷第10期

页      面：170-170页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：National Science Foundation of China [61375102, 61273326] Beijing Natural Science Foundation [4122084, 3141002] Excellent Young and Middle-Aged Scientist Award Grant of Shandong Province of China [BS2013DX018] China Postdoctoral Science Foundation [2012M521337] 

主　　题：Central Pattern Generator (CPG) Sensory Feedback Robotic Fish Neurocomputing Swimming Control 

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.