| 引用本文: | 王龙, 谭民, 曹志强, 王硕, 沈志忠.基于CPG模型的仿生机器鱼运动控制[J].控制理论与应用,2007,24(5):749~755.[点击复制] |
| WANG Long, TAN Min, CAO Zhi-qiang, WANG Shuo, SHEN Zhi-zhong.CPG based motion control of biomimetic robotic fish[J].Control Theory and Technology,2007,24(5):749~755.[点击复制] |
|
| 基于CPG模型的仿生机器鱼运动控制 |
| CPG based motion control of biomimetic robotic fish |
| 摘要点击 2432 全文点击 2345 投稿时间：2006-01-07 修订日期：2006-07-26 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/j.issn.1000-8152.2007.5.011 |
| 2007,24(5):749-755 |
| 中文关键词 CPG 仿生机器鱼 姿态控制 动力学模型 |
| 英文关键词 CPG biomimetic robotic fish posture control dynamic model |
| 基金项目 国家自然科学基金资助项目(50475179, 60635010, 60605026). |
|
| 中文摘要 |
| 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. |
| 英文摘要 |
| 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. |
|
|
|
|
|