CPG Network Optimization for a Biomimetic Robotic Fish via PSO

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	CPG Network Optimization for a Biomimetic Robotic Fish via PSO
	Yu, Junzhi 1; Wu, Zhengxing 1; Wang, Ming 2; Tan, Min 1; Tan, Min; Yu, Junzhi; Wu, Zhengxing
刊名	IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
	2016-09-01
卷号	27 期号:9 页码:1962-1968
关键词	Central pattern generator (CPG) neurodynamic systems parameter optimization robotic fish
通讯作者	Yu, Junzhi
英文摘要	In this brief, we investigate the parameter optimization issue of a central pattern generator (CPG) network governed forward and backward swimming for a fully untethered, multijoint biomimetic robotic fish. Considering that the CPG parameters are tightly linked to the propulsive performance of the robotic fish, we propose a method for determination of relatively optimized control parameters. Within the framework of evolutionary computation, we use a combination of dynamic model and particle swarm optimization (PSO) algorithm to seek the CPG characteristic parameters for an enhanced performance. The PSO-based optimization scheme is validated with extensive experiments conducted on the actual robotic fish. Noticeably, the optimized results are shown to be superior to previously reported forward and backward swimming speeds.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic
研究领域[WOS]	Computer Science ; Engineering
关键词[WOS]	CENTRAL PATTERN GENERATOR ; PARTICLE SWARM OPTIMIZATION ; LOCOMOTION CONTROL ; DESIGN ; OSCILLATORS ; MECHANICS ; MODELS
收录类别	SCI
语种	英语
WOS记录号	WOS:000382175500013
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12626]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Yu, Junzhi
作者单位	1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 2.100190, China 3. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 4.250101, China
推荐引用方式 GB/T 7714	Yu, Junzhi ,Wu, Zhengxing ,Wang, Ming ,et al. CPG Network Optimization for a Biomimetic Robotic Fish via PSO[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2016,27(9):1962-1968.
APA	Yu, Junzhi .,Wu, Zhengxing .,Wang, Ming .,Tan, Min .,Tan, Min.,...&Wu, Zhengxing.(2016).CPG Network Optimization for a Biomimetic Robotic Fish via PSO.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,27(9),1962-1968.
MLA	Yu, Junzhi ,et al."CPG Network Optimization for a Biomimetic Robotic Fish via PSO".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 27.9(2016):1962-1968.