CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming. (20th October 2014)
- Record Type:
- Journal Article
- Title:
- CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming. (20th October 2014)
- Main Title:
- CPG-based Sensory Feedback Control for Bio-inspired Multimodal Swimming
- Authors:
- Wang, Ming
Yu, Junzhi
Tan, Min - Abstract:
- Sensory feedback plays a very significant role in the generation of diverse and stable movements for animals. In this paper we describe our effort to develop a Central Pattern Generator (CPG)-based sensory feedback control for the creation of multimodal swimming for a multi-articulated robotic fish in the context of neurocomputing. The proposed control strategy is composed of two phases: the upper decision-making and the automatic adjustment. According to the upper control commands and the sensory inputs, different swimming gaits are determined by a finite state machine algorithm. At the same time, the sensory feedback is exploited to shape the CPG coupling forms and control parameters. In the automatic adjustment phase, the CPG model with sensory feedback will adapt the environment autonomously. Simulation and underwater tests are further conducted to verify the presented control scheme. It is found that the CPG-based sensory feedback control method can effectively improve the manoeuvrability and adaptability of the robotic fish in water.
- Is Part Of:
- International journal of advanced robotic systems. Volume 11:Number 10(2014)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 11:Number 10(2014)
- Issue Display:
- Volume 11, Issue 10 (2014)
- Year:
- 2014
- Volume:
- 11
- Issue:
- 10
- Issue Sort Value:
- 2014-0011-0010-0000
- Page Start:
- Page End:
- Publication Date:
- 2014-10-20
- Subjects:
- Central Pattern Generator (CPG) -- Sensory Feedback -- Robotic Fish -- Neurocomputing -- Swimming Control
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.5772/59186 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
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- Available online (eLD content is only available in our Reading Rooms) ↗
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- 24509.xml