Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model
文献类型：会议论文
| 作者 | Yuan, Jun ; Yu, Junzhi; Wu, Zhengxing; Tan, Min
|
| 出版日期 | 2015 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 |
| 会议日期 | December 6, 2015 - December 9, 2015 |
| 会议地点 | Zhuhai, China |
| 英文摘要 | This paper presents a novel approach on swimming performance improvement for a bio-inspired robotic fish. The main idea of this approach lies in optimizing the oscillator phase differences of a central pattern generator (CPG) model, which governs the rotation of the joints. Definitely, the swimming performance includes steady forward velocity, head stability, and energy-efficiency. A dynamic model is firstly built to describe the swimming motion of the robotic fish. Taking advantage of the dynamic model, we analyze the influence on the swimming performance exerted bythe phase differences. Specifically, two conditions are studied and compared together: consistent and inconsistent phase differences. To the best ofour knowledge, this issue has not been addressed in previous literature sufficiently. The optimal swimming performance is searched under both ofthe conditions. Simulation results reveal that the CPG model with inconsistent phase differences is able to realize better swimming performance, especially for head stability and energy-efficiency. |
| 会议录 | 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13042]  |
| 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 |
| 作者单位 | State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Yuan, Jun,Yu, Junzhi,Wu, Zhengxing,et al. Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model[C]. 见:IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6, 2015 - December 9, 2015. |
入库方式： OAI收割
来源：自动化研究所
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