A CPG-based sensory feedback control method for robotic fish locomotion

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

	A CPG-based sensory feedback control method for robotic fish locomotion
	Wang Ming; Yu Junzhi; Tan Min; Zhang Guiqing
	2011
会议名称	30th Chinese Control Conference
会议日期	2011.07
会议地点	Yantai, China
关键词	Swimming control CPG Sensory Feedback Robotic fish Environmental sensing
页码	4115-4120
通讯作者	Wang Ming
英文摘要	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, floating 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.
收录类别	EI
会议录	Proceedings of the 30th Chinese Control Conference, CCC 2011
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/4828]
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
推荐引用方式 GB/T 7714	Wang Ming,Yu Junzhi,Tan Min,et al. A CPG-based sensory feedback control method for robotic fish locomotion[C]. 见:30th Chinese Control Conference. Yantai, China. 2011.07.