A method for realizing the rapid and large pitch angle change motion of a pectoral fin flapping robotic fish

Abstract

The invention discloses an implementation method for the rapid great pitch angle change motion of a pectoral fin paddling type robotic fish, which includes the following steps: (Step 1) a rapid pitch kinematics model is created; (Step 2) a phase oscillator model with the characteristic of time and spatial asymmetry is created; (Step 3) a CPG (Central Pattern Generator) control network structure is created; (Step 4) a rapid pitch motion control system is created. The implementation method adopts multi-drive coordinated pectoral fin and tail motion, the robotic fish can generate pitch moment far greater than moment generated by the deflection of a swimming bladder or a single tail fin by means of the kinetic characteristic of spatial and time asymmetry, consequently, the implementation method can realize the rapid pitch (pitch angle change is greater than 60 degrees) motion of the pectoral fin paddling type robotic fish, and the obstacle-crossing and obstacle-avoiding ability of the robotic fish facing vertical wall type obstacles underwater is greatly enhanced.

Description

technical field [0001] The invention belongs to the technical field of bionics, and in particular relates to a method for realizing the fast and large pitch angle change motion of a pectoral fin flapping robot fish. Background technique [0002] Pectoral-fin flapping fish, such as manta, bullnose ray, and eagle-billed harrier, pass the wave deformation along the chord direction of the pectoral fin by flapping the pectoral fin (the wavelength transmitted on the pectoral fin is less than 1), generating propulsion and lift, and fine-tuning through the tail fin pitching motion. The flapping pectoral fin robot fish has good maneuverability, stability and propulsion efficiency. Its high maneuverability is coordinated and controlled by the active deformation of the pectoral fins and tail (the rear third of the torso and the tail fin), enabling rapid pitching, small-radius turns, gliding, and rolling. The high maneuverability of the pectoral-fin flapping robotic fish is of great s...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the traditional pectoral-fin flapping robot fish cannot achieve a rapid and large-pitch attitude change exceeding 60° by relying on the principle of swim bladder or tail fin, the present invention proposes a biological central pattern generator Central PatternGenerator (CPG for short) control method, coordinated control Multi-drive pectoral fins and tails to realize the movement of pectoral fin flapping robot fish with rapid and large pitch angle changes (referred to as fast pitching motion)

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