CPG Parameter Search for a Biomimetic Robotic Fish Based on Particle Swarm Optimization
文献类型：会议论文
| 作者 | Wu Zhengxing ; Yu Junzhi; Tan Min
|
| 出版日期 | 2013 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO) |
| 会议日期 | 2012.12 |
| 会议地点 | Guangzhou, China |
| 关键词 | search problems biomimetics hydrodynamics marine propulsion mobile robots particle swarm optimisation robot dynamics |
| 通讯作者 | Wu Zhengxing |
| 英文摘要 | This paper addresses the parameter search issue of a Central Pattern Generator (CPG) governed fishlike swimming. Since the CPG parametersinvolving amplitudes, frequencies, and phase lags are closely related to the propulsive performance, an idea optimizing the CPG characteristic parameters for the maximum propulsive speed is formed and implemented. Specifically, a dynamic model of robotic fish swimming using Kane's method is developed to guide the primary parameter search. A particle swarmoptimization (PSO) algorithm is further employed to optimize the CPGparameters for an enhanced performance. Numerical simulations and roboticexperiments superior to previously published results are finally given, validating the effectiveness of the PSO-based search scheme. |
| 收录类别 | CPCI-T |
| 会议录 | 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4951]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Wu Zhengxing,Yu Junzhi,Tan Min. CPG Parameter Search for a Biomimetic Robotic Fish Based on Particle Swarm Optimization[C]. 见:IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO). Guangzhou, China. 2012.12. |
入库方式： OAI收割
来源：自动化研究所
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