文献详情
Applying central pattern generators to control the robofish with oscillating pectoral fins
文献类型期刊
作者Cao, Yong[1];Bi, Shusheng[2];Cai, Yueri[3];Wang, Yuliang[4]
机构
通讯作者Cao, Y (reprint author), Beijing Univ Aeronaut & Astronaut, Inst Robot, Sch Mech Engn & Automat, Beijing 100083, Peoples R China.
来源信息年:2015  卷:42  期:5  页码范围:392-405  
期刊信息INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL影响因子和分区  ISSN:0143-991X
关键词Oscillating pectoral fin; Central pattern generator; Motion control
增刊正刊
摘要Purpose - This paper aims to develop a robofish with oscillating pectoral fins, and control it to mimic the bionic prototype by central pattern generators (CPGs). Design/methodology/approach - First, the oscillation characteristics of the cownose ray were analyzed quantitatively. Second, a robofish with multi-joint pectoral fins was developed according to the bionic morphology and kinematics. Third, the improved phase oscillator was established, which contains a spatial asymmetric coefficient and a temporal asymmetric coefficient. Moreover, the CPG network is created to mimic the cownose ray and accomplish three-dimensional (3D) motions. Finally, the experiments were done to test the authors' works. Findings - The results demonstrate that the CPGs is effective to control the robofish to imitate the cownose ray realistically. In addition, the robofish is able to accomplish 3D motions of high maneuverability, and change among different swimming modes quickly and smoothly. Originality/value - The research provides the method to develop a robofish from both 3D morphology and kinematics. The motion analysis and CPG control make sure that the robofish has the features of high maneuverability and camouflage. It is useful for military underwater applications and underwater detections in narrow environments. Second, this work lays the foundation for the autonomous 3D control. Moreover, the robotic fish can be taken as a scientific tool for the fluid bionics research.
收录情况SCIE(WOS:000360575400003)  EI(20153201158713)  
所属部门机械工程及自动化学院
DOI10.1108/IR-03-2015-0044
学科工程:工业;机器人学
百度学术Applying central pattern generators to control the robofish with oscillating pectoral fins
语言外文
被引频次5
人气指数93
浏览次数93
基金National Science Foundation of China [51205011]; Fundamental Research Funds for the Central Universities [BUAA: YWF-14-RSC-107]
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