Modeling neural control of robotic fish with pectoral fins using a CPG-based network

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

	Modeling neural control of robotic fish with pectoral fins using a CPG-based network
	Wang Ming; Yu Junzhi; Tan Min
	2010
会议名称	48th IEEE Conference on Decision and Control
会议日期	2009.12
会议地点	Shanghai, China
关键词	Robot control Marine animals Robot kinematics Mathematical model Rhythm Frequency Turning Spinal cord Hydrodynamics Concrete
页码	6502-6507
通讯作者	Wang Ming
英文摘要	A three-dimensional locomotion control method for robotic fish with pectoral fins is presented in this paper. The approach employed a Central Pattern Generator (CPG) network model, which can generate stable locomotive rhythms. The existence of periodic solution of the model has been proved. Parameter influence on the solution is also analyzed. The rhythm generators of the model not only produce rhythms, but also alter their frequencies and amplitudes separately. Robotic fish driven by pectoral fins is capable of implementing various motion patterns, such as pitching mode, backward motion, turning mode, etc, by using the CPG network model. The concrete procedure for using the model is described in this paper. Corresponding experimental results validated the neural control method, which can be extended to other robotic applications.
收录类别	EI
会议录	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/4882]
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. Modeling neural control of robotic fish with pectoral fins using a CPG-based network[C]. 见:48th IEEE Conference on Decision and Control. Shanghai, China. 2009.12.