This invention discloses a CPG
phase oscillator model with
flapping switching function and its application. The model introduces amplitude bias by constructing an amplitude bias equation; by changing the cosine function in the output equation to the form of adding the amplitude bias and sine functions, a sinusoidal
signal output is achieved, thus realizing spatial asymmetric
flapping; the amplitude bias is changed by introducing a spatial asymmetric
flapping coefficient; by designing the amplitude bias equation in two different forms with or without zero amplitude, different outputs of quantitative angle bias signals and periodic
rhythm signals can be achieved, thus realizing two different
modes of flapping and gliding; by introducing the amplitude bias equation and the improved output equation into the traditional CPG
phase oscillator model, the construction of a CPG
phase oscillator model with flapping switching function can be completed. The CPG phase oscillator model constructed in this invention is used for the switching and
motion control of gliding and flapping
modes of a biomimetic flapping-wing
robot. It can realize the spatial asymmetric up and down flapping of the
flapping wing structure and quantitative angle offset. Moreover, the amplitude offset is individually controllable, and the switching between flapping and gliding
modes is fast and smooth. It has the characteristics of simple calculation, convenient control and strong environmental adaptability.