Backward swimming control method of biomimetic carangiform robot fish

A control method and technology of robotic fish, applied in the field of bionics, can solve the problems of strong dependence on pectoral fins and high requirements for robotic fish prototype design

Active Publication Date: 2012-10-24
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

This type of backward swimming is highly dependent on the pectoral fins

Method used

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  • Backward swimming control method of biomimetic carangiform robot fish
  • Backward swimming control method of biomimetic carangiform robot fish
  • Backward swimming control method of biomimetic carangiform robot fish

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Embodiment Construction

[0013] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail in conjunction with specific embodiments and with reference to the accompanying drawings.

[0014] The method for controlling the backward movement of the imitated carpidae robotic fish proposed in the present invention uses a plurality of CPG oscillation units to form a motion control network of the robotic fish. Among them, the CPG oscillation unit is constructed based on the Hopf oscillator and adopts a chain coupling network structure. The CPG model used in the backward movement of the imitated carpidae robotic fish is expressed as follows:

[0015] x · i = - ω i y i + x i ( m i - x i 2 - y i 2 ) + X j = 1 , j ≠ i n a ij y i y · i = ω i x i + y i ( m i - ...

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Abstract

The invention discloses a backward swimming control method of a biomimetic carangiform robot fish, based on a CPG (Central Pattern Generator) to control the robot fish to swim. The backward swimming control method comprises the following steps: firstly, building a CPG chain type network topology according to the characteristics of fish swimming to reduce a CPG parameter number and reduce the complexity of a model; secondly, by reasonably regulating parameters of the CPG model, enabling an output signal of the CPG model to satisfy the following condition, in a direction from the head to the tail of the robot fish, phases of the control signal of a steering engine of the robot fish sequentially lag, and amplitudes are sequentially reduced, so that backward propelling force is produced, and backward swimming of the robot fish is realized. The backward swimming control method has the promotion action in deeply understanding a backward swimming motion mechanism of fishes and also provides guidance for enriching motion modals of underwater robots and improving the maneuvering ability of the underwater robots.

Description

Technical field [0001] The invention belongs to the field of bionics, in particular to a method for controlling the backward movement of imitated carpidae robotic fish based on a central pattern generator (Central Pattern Generator, CPG). Background technique [0002] In long-term natural selection, fish have evolved extraordinary swimming abilities. Fish swimming not only has high propulsion efficiency and good mobility, but also has strong environmental adaptability and good concealment. These advantages are unmatched by current underwater robots. Therefore, a large number of scholars have been attracted to study the swimming mechanism of fish, hoping to improve the ability of underwater vehicles, increase efficiency and mobility, and enhance stability. At present, domestic and foreign researchers have successfully developed many bionic robotic fish prototypes, which have realized direct swimming, turning, floating, and diving. However, there are few studies on robotic fish s...

Claims

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Application Information

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IPC IPC(8): B63H1/36
Inventor 喻俊志吴正兴谭民
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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