| Bioinspired Closed-loop CPG-based Control of a Robot Fish for Obstacle Avoidance and Direction Tracking | |
Chen, Jiayong1; Yin B(银波)2 ; Wang, Chengcai3; Xie, Fengran4; Du, Ruxu1; Zhong, Yong1
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| 通讯作者 | Zhong, Yong(zhongyong@scut.edu.cn) |
| 发表期刊 | JOURNAL OF BIONIC ENGINEERING
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| 2021 | |
| 卷号 | 18期号:1页码:171-183 |
| ISSN | 1672-6529 |
| 摘要 | This paper presents a study on bioinspired closed-loop Central Pattern Generator (CPG) based control of a robot fish for obstacle avoidance and direction tracking. The biomimetic robot fish is made of a rigid head with a pair of pectoral fins, a wire-driven active body covered with soft skin, and a compliant tail. The CPG model consists of four input parameters: the flapping amplitude, the flapping angular velocity, the flapping offset, and the time ratio between the beat phase and the restore phase in flapping. The robot fish is equipped with three infrared sensors mounted on the left, front and right of the robot fish, as well as an inertial measurement unit, from which the surrounding obstacles and moving direction can be sensed. Based on these sensor signals, the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions. Four sets of experiments are presented, including avoiding a static obstacle, avoiding a moving obstacle, tracking a designated direction and tracking a designated direction with an obstacle in the path. The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively. |
| 关键词 | biomimetic robot fish closed-loop control Central Pattern Generator (CPG) obstacle avoidance direction tracking |
| DOI | 10.1007/s42235-021-0008-0 |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000613288900013 |
| WOS研究方向 | Engineering ; Materials Science ; Robotics |
| WOS类目 | Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics |
| 论文分区 | 二类 |
| 力学所作者排名 | 2 |
| RpAuthor | Zhong, Yong |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://dspace.imech.ac.cn/handle/311007/86026 |
| 专题 | 流固耦合系统力学重点实验室 |
| 作者单位 | 1.South China Univ Technol, Shien Ming Wu Sch Intelligent Engn, Guangzhou 511442, Peoples R China; 2.Chinese Acad Sci, Inst Mech, Beijing 100190, Peoples R China; 3.China Acad Elect & Informat Technol, Beijing 100086, Peoples R China; 4.Chinese Acad Sci, Shenzhen Inst Adv Technol, Precis Engn Res Ctr, Shenzhen 518055, Peoples R China |
| 推荐引用方式 GB/T 7714 | Chen, Jiayong,Yin B,Wang, Chengcai,et al. Bioinspired Closed-loop CPG-based Control of a Robot Fish for Obstacle Avoidance and Direction Tracking[J]. JOURNAL OF BIONIC ENGINEERING,2021,18,1,:171-183. |
| APA | Chen, Jiayong,银波,Wang, Chengcai,Xie, Fengran,Du, Ruxu,&Zhong, Yong.(2021).Bioinspired Closed-loop CPG-based Control of a Robot Fish for Obstacle Avoidance and Direction Tracking.JOURNAL OF BIONIC ENGINEERING,18(1),171-183. |
| MLA | Chen, Jiayong,et al."Bioinspired Closed-loop CPG-based Control of a Robot Fish for Obstacle Avoidance and Direction Tracking".JOURNAL OF BIONIC ENGINEERING 18.1(2021):171-183. |
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| Jp2021099.pdf（2582KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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