Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,
文献类型：会议论文
| 作者 | Zhao, Wei ; Yu, Junzhi; Fang, Yimin; Wang, Long
|
| 出版日期 | 2006 |
| 会议名称 | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 |
| 会议日期 | October 9, 2006 - October 15, 2006 |
| 会议地点 | Beijing, China |
| 关键词 | Biomimetic robotic fish intelligent machines robot design Central Pattern Generator control multi-mode |
| 通讯作者 | Zhao, Wei |
| 英文摘要 | This paper presents the construction and motion control of a biologically inspired, multi-mode biomimetic robotic fish capable of three-dimensional locomotion. The mechanical configuration and the control system are described. The rhythmic movements of swimming are driven by the biological neural networks, called the central pattern generators (CPGs). The CPGs are modeled as nonlinear oscillators for joints and inter-joint coordination is achieved by altering the connection weights between joints. The CPG-based online gait generation method allows elegant and smooth transitions between swimming gaits, which result in multi-mode swimming to implement more lifelike locomotion. Several swimming modes can be obtained to mimic diverse actions of the real fish in nature, or designed according to special assignments by changing CPG parameters. The up-and-down motion can be implemented by adjusting the rotating angle of pectoral fins. The depth of the robotic fish is controlled utilizing a proportional-integral-derivative (PID) control algorithm according to the feedback of depth information measured by the sonar sensor installed at the bottom of the fish. The experimental results confirm the effectiveness of the control methods. |
| 会议录 | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13074]  |
| 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 | Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China.(2)Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China |
| 推荐引用方式 GB/T 7714 | Zhao, Wei,Yu, Junzhi,Fang, Yimin,et al. Development of multi-mode biomimetic robotic fish based on Central Pattern Generator,[C]. 见:2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. Beijing, China. October 9, 2006 - October 15, 2006. |
入库方式： OAI收割
来源：自动化研究所
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