Leap Motion interaction-based bionic robotic fish control system

Abstract

The invention discloses a Leap Motion interaction-based bionic robotic fish control system. An operator can complete path control of a single body or multiple bodies of a robotic fish through a single-finger or multi-finger motion trail, and the diversity and intelligence of human-fish interaction are improved. The upper computer interaction platform collects hand information of an operator through Leap Motion, wherein the hand information comprises movement track data of both hands and multiple fingers; secondly, on the basis of a robotic fish kinematics model, a feasible single-body or multi-body performance track is planned in combination with a B-spline curve (B-Spline); finally, the continuous track points are discretized into a position-time sequence, and the position-time sequence is transmitted to the robotic fish in a wireless communication mode. The robotic fish swims according to a preset trajectory after receiving the control start instruction and the position-time path point, the ArUco code and the inertial navigation module feed back the pose in real time in the swim process, and the robotic fish controller compares the actually measured pose with the preset pose and corrects the pose in real time by using a PID algorithm until complete tracking of the trajectory point is completed.

Description

technical field [0001] The invention relates to the technical field of bionic robotic fish, in particular to a bionic robotic fish control system based on Leap Motion interaction. Background technique [0002] Robot fish is a new type of underwater detector with the theme of bionics. Because of its low noise and strong bionics, it plays an important role in many fields such as water quality environmental survey, military reconnaissance, seabed exploration, education and entertainment. At present, the research and development of bionic robot fish by domestic and foreign scientific research institutions are mostly focused on the body design of fish diversity, driving ability, individual mobility, motion control, bionic materials, etc., and the research on the intelligent human-fish interaction of robot fish is not enough. deep. Traditional control methods mainly include man-machine interface, teach pendant, and remote control. Most of the interaction methods rely on mouse, ke...

AI Technical Summary

Problems solved by technology

It aims to solve the problem that the current human-fish interaction system is not intuitive and friendly enough, endow the robot fish with more ornamental intelligent interactive stunts, and promote the bionic robot fish from a single performance to a patterned, intelligent, and precise human-fish interaction direction. develop

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