Central pattern generator model design and gait control research of amphibious robotic fish

	Central pattern generator model design and gait control research of amphibious robotic fish
	Yang WL(杨文林)2,3; Wu, Peng 1; Zhou, Xiaoqi 1,3; Zhu PQ(祝普强)2,3; Liu XY(刘鑫宇)2,3
	2021
会议日期	August 13-15, 2021
会议地点	Hangzhou, Virtual, China
页码	1-15
英文摘要	Central Pattern Generator (CPG) has the characteristics of strong adaptability and various output forms, which is suitable for amphibious robotic fish whose environment may change at any time. According to the bionic prototype, the Hopf oscillators on ipsilateral and contralateral side were coupled to form a CPG network topology model, which was used to control the steering gear and realize the waveform propulsion of the fins. In MATLAB, parameters such as amplitude and frequency were set for the model to obtain the motion characteristics under five actual gaits. The output curve is consistent with the theory and the conversion flow field is smooth, which proves the correctness of the CPG model and can be used as the target of subsequent simulation. Finally, through ADAMS and MATLAB co-simulation, the output swing angle curve of the controlled object (steering gear) is obtained, which accords with the abovementioned control goal. This guaranteed the effectiveness of CPG model control. Moreover, the centroid and torque of the steering gear changes in the gait process of crawling and steering are especially analyzed, these changes indicate that the steering gear does not lose too much power during the rigid contact between the fin and the ground and prove the practical feasibility of the theory.
产权排序	1
会议录	2021 2nd International Conference on Mechatronics Technology and Intelligent Manufacturing, ICMTIM 2021
会议录出版者	IOP
会议录出版地	Bristol, UK
语种	英语
ISSN号	1742-6588
WOS记录号	IOP:1742-6588-2029-1-012109
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29782]
专题	沈阳自动化研究所_其他
通讯作者	Zhou, Xiaoqi
作者单位	1.College of Mechanical and Electronic Engineering, Shaanxi University of science and technology, Shaanxi, Xi’an 710021, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning, Shenyang 110000, China 3.Guangdong Institute of Intelligent Unmanned System, Guangdong, Guangzhou 511458, China
推荐引用方式 GB/T 7714	Yang WL,Wu, Peng,Zhou, Xiaoqi,et al. Central pattern generator model design and gait control research of amphibious robotic fish[C]. 见:. Hangzhou, Virtual, China. August 13-15, 2021.