CPGs control method using a new oscillator in robotic fish

被引：10

作者：

Wang Gang ^{[1
]}

Zhang DaiBing ^{[1
]}

Lin LongXin ^{[1
]}

Xie HaiBin ^{[1
]}

Hu TianJiang ^{[1
]}

Shen LinCheng ^{[1
]}

机构：

[1] Natl Univ Def Technol, Sch Mechatron & Automat, Changsha 410073, Hunan, Peoples R China

来源：

SCIENCE CHINA-TECHNOLOGICAL SCIENCES | 2010年 / 53卷 / 11期

基金：

中国国家自然科学基金;

关键词：

CPGs control; oscillator; robotic fish; NETWORK;

D O I：

10.1007/s11431-010-4144-8

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A new oscillator is presented in this paper based on our pervious oscillator (Zhang's oscillator). Using this new oscillator, a bionic neural control system, the central pattern generators (CPGs) control system, is built. This control system has a two-level form. To validate the function of this new oscillator and the control system, simulations and experiments were both carried out, a simple robotic fish was built with three joints, and the results showed that the new oscillator can be used in startup and stop control mode, angle offset control mode and amplitude changing control mode. The new oscillator can be used in bionic CPGs control area with a simple form, and may be a new progress in bionic control.

引用

页码：2914 / 2919

页数：6

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