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Bionic robot fish motion control method, controller and bionic robot fish

A technology of motion control and robotic fish, applied in the field of bionic fish, can solve problems such as error-prone calculation results and complicated derivation process, and achieve the effect of improving autonomy and adaptability and realizing control

Active Publication Date: 2019-11-22
SHANDONG JIANZHU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The inventor found that the derivation process of the traditional bionic robotic fish modeling method is relatively complicated, and the amount of calculation increases rapidly with the increase of the degree of freedom of the robotic fish, and the calculation results are prone to errors

Method used

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  • Bionic robot fish motion control method, controller and bionic robot fish
  • Bionic robot fish motion control method, controller and bionic robot fish
  • Bionic robot fish motion control method, controller and bionic robot fish

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Embodiment 1

[0027] Such as Figure 4 As shown, a kind of bionic robotic fish motion control method of the present embodiment comprises:

[0028] S101: Obtain the joint angle of the caudal fin of the fish and the corresponding motion state label of the bionic robotic fish, and store them in the data set; the motion state labels of the bionic robotic fish include straight-swimming motion state labels and turning motion state labels.

[0029] The structure diagram of the bionic robot fish is as follows: figure 1 As shown, the analysis joint J 4 Effects of changes in robotic fish multimodal locomotion. Secondly, the mathematical model of the tail fin swing of the bionic robot fish is established as follows: figure 2 shown. Assume that the centroid of each segment is on the X axis, and that the centroid of each segment coincides with the geometric center. At this time, from the coordinate system {X,Y,Z} to the coordinate system {X 1 ,Y 1 ,Z 1} transformation matrix A is shown in formu...

Embodiment 2

[0073] This embodiment provides a controller, which adopts the steps in the above-mentioned method for controlling the motion of the bionic robotic fish to control the motion state of the bionic robotic fish.

Embodiment 3

[0075] This embodiment provides a bionic robot fish, which includes the above-mentioned controller.

[0076] Those skilled in the art should understand that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the present disclosure may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) having computer-usable program code embodied therein.

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Abstract

The invention provides a bionic robot fish motion control method, a controller and a bionic robot fish. The bionic robot fish motion control method comprises the follow steps: acquiring the angle of the fish tail fin joint and the corresponding bionic robot fish motion state tag to be stored in a data set, wherein the motion state tag of the bionic robot fish includes a straight-swimming motion state tag and a turning motion state tag; dividing the data set into a training set and a test set and normalizing; constructing an LSTM neural network model and training the LSTM neural network model by using the data from the normalized training set and testing the LSTM neural network model by using the test set so as to obtain the trained LSTM neural network model and obtain a bionic robot fish tail fin swing model; and outputting the motion state of the bionic robot fish corresponding to the present angle of the fish tail fin joint by using the bionic robot fish tail fin swing model. The motion state of the bionic robot fish can be accurately controlled and the control of the bionic robot fish can be better realized.

Description

technical field [0001] The disclosure belongs to the technical field of bionic fish, and in particular relates to a motion control method for a bionic robotic fish, a controller and the bionic robotic fish. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] In recent years, as the scarcity of land resources has become increasingly serious, people have paid more and more attention to the rich marine resources. Since the original underwater detection, operation, and delivery devices are difficult to meet the needs of complex underwater operations, the research and development of underwater robots has been accelerated. As the combination of fish propulsion mechanism and robot technology, the bionic robotic fish provides a new idea for the development of new underwater vehicles, and has important research value and application prospects. [00...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042G05B13/027
Inventor 汪明张燕鲁常征卫正
Owner SHANDONG JIANZHU UNIV
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