CPG feedback control method of biomimetic robot fish movement

A feedback control and robotic fish technology, applied in the field of bionics, can solve the problems of not clearly giving the implementation plan of the CPG feedback control method, and difficult to realize the feedback control, and achieve the effect of flexible autonomous swimming control and good applicability

Active Publication Date: 2010-12-15
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

To achieve autonomous movement, bionic robots must introduce environmental information and the state of the robot body, but most of the robot CPG models are composed of nonlinear differential equations, which makes it difficult to implement f

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  • CPG feedback control method of biomimetic robot fish movement
  • CPG feedback control method of biomimetic robot fish movement
  • CPG feedback control method of biomimetic robot fish movement

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Embodiment Construction

[0026] In order to make the purpose, technical solution and advantages of the present invention more clear, the following will describe in detail the CPG feedback control method of the bionic robotic fish based on different feedback receiving parts in combination with specific embodiments and the accompanying drawings and tables below.

[0027] 1. CPG feedback control system of bionic robotic fish

[0028] figure 1 A schematic diagram of the CPG control system of the bionic robotic fish according to the method of the present invention is given, including: a high-level control module 1 , a motion template matching and feature adjustment module 2 , a CPG module 3 , a bionic robotic fish 4 and a water environment measurement module 5 . The high-level control module 1 is connected with the bionic robotic fish 4 and the water area environment measurement module 5, and the high-level control module 1 receives and processes, makes decisions, and receives and analyzes the water area e...

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Abstract

The invention relates to a CPG (Certified Program Generator) feedback control method of biomimetic robot fish movement, comprising the following steps of: providing a CPG feedback control model for receiving feedback signals by using different parts of a high-level control module, a CPG, a motor neuron, and the like; receiving biomimetic robot fish body state information and water environment information by the high-level control module; transmitting a corresponding command by treating the information and making a decision; and selecting a corresponding movement moulding plate to determine a suitable CPG configuration, wherein the suitable CPG configuration is used for controlling the parts of the biomimetic robot fish body to carry out rhythmic movement and non-rhythmic movement. The invention provides a reference for the feedback control theoretical design of the biomimetic robot fish movement and can realize mobile, flexible and independent autokinetic movement.

Description

technical field [0001] The invention belongs to the technical field of bionics, and relates to a CPG feedback control method for the motion of a bionic robot fish based on different feedback signal receiving parts. Background technique [0002] Central Pattern Generator (CPG) is a kind of neuronal circuit existing in the central nervous system of invertebrates and vertebrates. It produces rhythmic behaviors such as walking, swimming, flying, breathing, and chewing without rhythmic control or feedback input. To achieve autonomous movement, bionic robots must introduce environmental information and the state of the robot body. However, most robot CPG models are composed of nonlinear differential equations, which makes it difficult to implement feedback control. Although CPG-based robot motion feedback control has received more and more attention, most of the research is still in its infancy, and the specific implementation scheme of the CPG feedback control method has not bee...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 喻俊志汪明谭民
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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