胸鳍推进型机器鱼的CPG控制及实现

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汪明, 喻俊志, 谭民. 胸鳍推进型机器鱼的CPG控制及实现[J]. 机器人, 2010, 32(2): 248-255.. WANG Ming, YU Junzhi, TAN Min. Central Pattern Generator Based Control and Implementation for a Pectoral-fin Propelled Robotic Fish. ROBOT, 2010, 32(2): 248-255..

摘要结合仿生游动机理，针对胸鳍推进型机器鱼提出了一种基于中枢模式发生器（CPG）的运动控制方法．该模型采用一类振荡频率和幅值可以独立控制的非线性微分方程作为其神经元振荡器模型，通过最近相邻耦合的方式，对n个这样的神经元振荡器进行耦合，构建了仿生机器鱼的CPG网络模型．证明了此模型单个神经元振荡器的极限环的存在性、唯一性及稳定性．在此基础上，通过对胸鳍推进的运动学分析，导出机器人直游、倒游、胸鳍—尾鳍协调运动等多种模式的运动控制方法．仿真及实验结果验证了此中枢模式发生器模型的可行性与所提控制方法的有效性．

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关键词 ：机器鱼, 运动控制, 中枢模式发生器, 胸鳍推进

Abstract：This paper presents a central pattern generator (CPG) based locomotion control method for a pectoral-fin propelled robotic fish with considering the bio-inspired swimming mechanism. A nonlinear differential equation is employed as the model of neural oscillators, in which undulation frequency and amplitude can be modulated independently. With nearestneighbor coupling connections, the CPG network model is constructed by coupling n such neural oscillators. The existence, uniqueness and stability of the limit cycle of its neural oscillator are proved. Based on the kinematic analysis of pectoral-fin based propulsion, the control methods of swimming forward and backward as well as pectoral-fin and body-caudal-fin coordination motion for the robotic fish are derived. Simulations and experimental results validate the feasibility of the CPG model and the effectiveness of the proposed control methods.

Key words： robotic fish locomotion control central pattern generator (CPG) pectoral-fin propelled swimming

收稿日期: 2009-05-13 录用日期: 2009-12-02

TP24

基金资助:国家自然科学基金资助项目（60635010，60775053）；国家863计划资助项目（2007AA04Z202）

通讯作者: 汪明 E-mail: ming.wang@ia.ac.cn,xclwm@sdjzu.edu.cn

作者简介: 汪明（1976- ），男，博士生．研究领域：仿生机器人，系统建模与先进机器人控制．
喻俊志（1975– ），男，博士，副研究员．研究领域：仿生机器人，多机器人系统，智能信息处理．
谭民（1962– ），男，博士，研究员，博士生导师．研究领域：先进机器人控制，仿生机器人，多机器人协调与控制．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I2/248

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