CPG Network Optimization for a Biomimetic Robotic Fish via PSO
文献类型：期刊论文
| 作者 | Yu, Junzhi 1; Wu, Zhengxing 1; Wang, Ming 2; Tan, Min 1; Tan, Min ; Yu, Junzhi; Wu, Zhengxing
|
| 刊名 | IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
 |
| 出版日期 | 2016-09-01 |
| 卷号 | 27期号:9页码:1962-1968 |
| 关键词 | Central pattern generator (CPG) neurodynamic systems parameter optimization robotic fish |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | In this brief, we investigate the parameter optimization issue of a central pattern generator (CPG) network governed forward and backward swimming for a fully untethered, multijoint biomimetic robotic fish. Considering that the CPG parameters are tightly linked to the propulsive performance of the robotic fish, we propose a method for determination of relatively optimized control parameters. Within the framework of evolutionary computation, we use a combination of dynamic model and particle swarm optimization (PSO) algorithm to seek the CPG characteristic parameters for an enhanced performance. The PSO-based optimization scheme is validated with extensive experiments conducted on the actual robotic fish. Noticeably, the optimized results are shown to be superior to previously reported forward and backward swimming speeds. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic |
| 研究领域[WOS] | Computer Science ; Engineering |
| 关键词[WOS] | CENTRAL PATTERN GENERATOR ; PARTICLE SWARM OPTIMIZATION ; LOCOMOTION CONTROL ; DESIGN ; OSCILLATORS ; MECHANICS ; MODELS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000382175500013 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12626]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 2.100190, China 3. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 4.250101, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi ,Wu, Zhengxing ,Wang, Ming ,et al. CPG Network Optimization for a Biomimetic Robotic Fish via PSO[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2016,27(9):1962-1968. |
| APA | Yu, Junzhi .,Wu, Zhengxing .,Wang, Ming .,Tan, Min .,Tan, Min.,...&Wu, Zhengxing.(2016).CPG Network Optimization for a Biomimetic Robotic Fish via PSO.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,27(9),1962-1968. |
| MLA | Yu, Junzhi ,et al."CPG Network Optimization for a Biomimetic Robotic Fish via PSO".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 27.9(2016):1962-1968. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。