Parameter Design for a Central Pattern Generator Based Locomotion Controller

The paper addresses a novel parameter design method for a locomotion controller based on the Central Pattern Generator (CPG) to generate diverse locomotion behaviors for link-based fish robots. Since almost; all mathematical models of the CPG represented by differential equations have many parameters, it is very intractable to design and modulate these quantities. To partly tackle this problem, an iterative technique centered parameter determination method is formulated; into which the relationship between fish-inspired body wave and the multi-link mechanical structure is fused. The formed algorithm is simple; easy to implement and suitable for engineering application. A simulation example of a three-link robotic fish is further illustrated. The results show the effectiveness of the approach which can be extended to control biomimetic robotic fish and other multi-link robots. Moreover, many related CPG mathematical models can be dealt with by the proposed method.