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Applying central pattern generators to control the robofish with oscillating pectoral fins

Yong Cao (Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing, China)
Shusheng Bi (Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing, China)
Yueri Cai (Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing, China)
Yuliang Wang (Robotics Institute, School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 17 August 2015

567

Abstract

Purpose

This paper aims to develop a robofish with oscillating pectoral fins, and control it to mimic the bionic prototype by central pattern generators (CPGs).

Design/methodology/approach

First, the oscillation characteristics of the cownose ray were analyzed quantitatively. Second, a robofish with multi-joint pectoral fins was developed according to the bionic morphology and kinematics. Third, the improved phase oscillator was established, which contains a spatial asymmetric coefficient and a temporal asymmetric coefficient. Moreover, the CPG network is created to mimic the cownose ray and accomplish three-dimensional (3D) motions. Finally, the experiments were done to test the authors ' works.

Findings

The results demonstrate that the CPGs is effective to control the robofish to imitate the cownose ray realistically. In addition, the robofish is able to accomplish 3D motions of high maneuverability, and change among different swimming modes quickly and smoothly.

Originality/value

The research provides the method to develop a robofish from both 3D morphology and kinematics. The motion analysis and CPG control make sure that the robofish has the features of high maneuverability and camouflage. It is useful for military underwater applications and underwater detections in narrow environments. Second, this work lays the foundation for the autonomous 3D control. Moreover, the robotic fish can be taken as a scientific tool for the fluid bionics research.

Keywords

Acknowledgements

The research is supported by National Science Foundation of China (No. 51205011) and Fundamental Research Funds for the Central Universities (BUAA: YWF-14-RSC-107). The authors would like to thank their colleagues Hongwei Ma, Zhao Gong and Lingkun Chen in the Robotics Institute of Beihang University for their help in the experiments.

Citation

Cao, Y., Bi, S., Cai, Y. and Wang, Y. (2015), "Applying central pattern generators to control the robofish with oscillating pectoral fins", Industrial Robot, Vol. 42 No. 5, pp. 392-405. https://doi.org/10.1108/IR-03-2015-0044

Publisher

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Emerald Group Publishing Limited

Copyright © 2015, Emerald Group Publishing Limited

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