摘要
仿生机器鱼的研究已经成为一个富有挑战性的热点问题.为了控制机器鱼自身的运动和姿态,本文研究了胸鳍对机器鱼运动的影响,并且基于CPG模型,提出了一种运动控制方法.采用的控制模型由4个振荡器构成,可根据反馈的信息产生节律信号以控制机器鱼胸鳍和尾鳍的运动.根据CPG模型参数与反馈输入之间的关系,设计了机器鱼俯仰和转弯反馈控制方法,利用反馈的信息自主调节CPG参数,达到控制胸鳍运动模式的目的.仿真实验验证了控制模型和反馈策略的有效性.
The biomimetic robotic fish has emerged as a challenging research area in recent years. In order to make the biomimetic robotic fish control its motion and posture with sensory information autonomously, an artificial central pattern generator （CPG） controller consisting of four neural oscillators with sensory information feedback is designed in this paper. This controller can generate rhythm instructions to drive two pectoral fins and a tail fin flapping repeatedly. According to the relation between motion patterns and CPG parameters, two feedback strategies are then designed to control pitching and turning locomotion of the pectoral fins respectively. Finally, simulations show the validity of CPG model and the proposed feedback strategies.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2007年第5期749-755,共7页
Control Theory & Applications
基金
国家自然科学基金资助项目(50475179
60635010
60605026)
