A CPG-based Sensory Feedback Control Method for Robotic Fish Locomotion
This paper deals with a Center Pattern Generator (CPG)centered sensory feedback control method for robotic fish locomotion,which improves the maneuverability and adaptability of robotic fish in water.A two-phase CPG-based control architecture to implement the autonomous locomotion in robotic fish has been proposed.The whole process of the control architecture is divided into two phases:the upper decision-making and the automatic adjustment.According to the upper command from the controller and the sensory input,a proposed finite state machine algorithm determines locomotion gaits such as straight forward/backward,turning left/right,fioating up/swimming down,and so on,and modify the coupling forms and controlling parameters.And then,the CPG model with sensory feedback takes charge the autonomous locomotion control.This sensory feedback control method can improve the adaptation of the system to environmental changes,external requirements, or proprioceptive information.Corresponding experimental results validate the CPG-based sensory feedback control method, which can be extended to other robotic applications.
WANG Ming YU Junzhi TAN Min ZHANG Guiqing
School of Information and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,P.R.China Laboratory of Complex Systems and Intelligence Science,Institute of Automation, Chinese Academy of S
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）