| 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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| Corresponding Author | Zhong, Yong([email protected]) |
| Source Publication | JOURNAL OF BIONIC ENGINEERING
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| 2021 | |
| Volume | 18Issue:1Pages:171-183 |
| ISSN | 1672-6529 |
| Abstract | 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. |
| Keyword | biomimetic robot fish closed-loop control Central Pattern Generator (CPG) obstacle avoidance direction tracking |
| DOI | 10.1007/s42235-021-0008-0 |
| Indexed By | SCI ; EI |
| Language | 英语 |
| WOS ID | WOS:000613288900013 |
| WOS Research Area | Engineering ; Materials Science ; Robotics |
| WOS Subject | Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics |
| Classification | 二类 |
| Ranking | 2 |
| Contributor | Zhong, Yong |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://dspace.imech.ac.cn/handle/311007/86026 |
| Collection | 流固耦合系统力学重点实验室 |
| Affiliation | 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 |
| Recommended Citation 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.Rp_Au:Zhong, Yong |
| 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 | View Download | |
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