Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model
Journal article, Peer reviewed
Accepted version
Åpne
Permanent lenke
http://hdl.handle.net/11250/2624075Utgivelsesdato
2019Metadata
Vis full innførselSamlinger
Originalversjon
10.1080/20464177.2019.1638703Sammendrag
This paper presents mechatronic design and hierarchical locomotion control of a biomimetic robotic fish for three-dimensional swimming modes. Inspired by biological features of Lamprey, a closed loop sensory feedback Central Pattern Generator (CPG) model is adapted to hierarchical control mechanism in order to provide robust and effective biomimetic control structure. A sensory feedback mechanism plays an important role to react external stimuli from environment. In addition, a closed loop fuzzy logic control structure is developed as a brain model to decide adaptive swimming modes according to sensory information. In order to provide three-dimensional motion abilities, the Centre of Gravity (CoG) control mechanism is designed and controlled by a back-forth proportional control structure. Experimental results are obtained to prove the CPG-based closed loop sensory feedback control structure with the developed robotic fish prototype.