dc.contributor.author | Korkmaz, Deniz | |
dc.contributor.author | Koca, Gonca Ozmen | |
dc.contributor.author | Li, Guoyuan | |
dc.contributor.author | Bal, Cafer | |
dc.contributor.author | Ay, Mustafa | |
dc.contributor.author | Akpolat, Zuhtu Hakan | |
dc.date.accessioned | 2019-10-24T08:36:16Z | |
dc.date.available | 2019-10-24T08:36:16Z | |
dc.date.created | 2019-10-18T22:16:57Z | |
dc.date.issued | 2019 | |
dc.identifier.issn | 2046-4177 | |
dc.identifier.uri | http://hdl.handle.net/11250/2624075 | |
dc.description.abstract | 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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Taylor & Francis | nb_NO |
dc.title | Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.journal | Journal of Marine Engineering & Technology | nb_NO |
dc.identifier.doi | 10.1080/20464177.2019.1638703 | |
dc.identifier.cristin | 1738587 | |
dc.description.localcode | Locked until 9.7.2020 due to copyright restrictions. This is an [Accepted Manuscript] of an article published by Taylor & Francis in [Journal of Marine Engineering & Technology] on [09 Jul 2019], available at https://doi.org/10.1080/20464177.2019.1638703 | nb_NO |
cristin.unitcode | 194,64,93,0 | |
cristin.unitname | Institutt for havromsoperasjoner og byggteknikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |