CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming
文献类型：期刊论文
| 作者 | Wang, Ming 1; Yu, Junzhi 2; Tan, Min 2 |
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2014-10-20 |
| 卷号 | 11 |
| 关键词 | Central Pattern Generator (CPG) Sensory Feedback Robotic Fish Neurocomputing Swimming Control |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | ANGUILLIFORM ROBOTIC FISH ; LOCOMOTION ; GENERATOR ; LAMPREY ; DESIGN ; MOTION ; MODELS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000343307000001 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3491]  |
| 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 | 1. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, China 2. 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 | Wang, Ming ,Yu, Junzhi ,Tan, Min . CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2014,11. |
| APA | Wang, Ming ,Yu, Junzhi ,&Tan, Min .(2014).CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,11. |
| MLA | Wang, Ming ,et al."CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 11(2014). |
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。