Coordinated Control of Bionic Pectoral Fins in Labriform Mode Based on ArtificialSpinal Cord Networks
LIU Qiang1, ZHANG Yongshuo2, ZHOU Xinhua3, YANG Huizhen1
1. School of Electronic Engineering, Jiangsu Ocean University, Lianyungang 222005, China; 2. School of Mechanical and Ocean Engineering, Jiangsu Ocean University, Lianyungang 222005, China; 3. JARI Automation CO., LTD., Lianyungang 222006, China
刘强, 张永硕, 周鑫华, 杨慧珍. 基于仿脊髓网络的咽颌模式仿生胸鳍协调控制[J]. 机器人, 2020, 42(2): 157-166.DOI: 10.13973/j.cnki.robot.190303.
LIU Qiang, ZHANG Yongshuo, ZHOU Xinhua, YANG Huizhen. Coordinated Control of Bionic Pectoral Fins in Labriform Mode Based on ArtificialSpinal Cord Networks. ROBOT, 2020, 42(2): 157-166. DOI: 10.13973/j.cnki.robot.190303.
Abstract:According to the structure, driving properties and maneuvering properties of the developed bionic pectoral fin in labriform mode, the artificial spinal cord control networks for the bionic pectoral fin in labriform mode are designed. Firstly, the topological connection relations between the artificial spinal cord networks of the left and right bionic pectoral fins are constructed based on the coordinated motion properties of the left and right bionic pectoral fins in labriform mode to implement the coordinated control of the left and right bionic pectoral fins. Then, the Matlab is used to simulate the performances of the artificial spinal cord network in generating the propulsion morphology of pectoral fin and controlling the coordinated motion between the left and right bionic pectoral fins. The simulation results are consistent with the observation results, proving that the structure and driving system of bionic pectoral fin in labriform mode as well as the built artificial spinal cord control networks are reasonable, and can reflect the maneuver and control mechanism of the pectoral fins of the teleost. In addition, the coordinated control of the bionic pectoral fins shows excellent biological properties. It lays foundation for the development on the high-performance propulsion system in labriform mode and the research on the propulsion mechanism and neuromuscular control mechanism in labriform mode.
[1] Sfakiotakis M, Lane D M, Davies J B C. Review of fish swimming modes for aquatic locomotion[J]. IEEE Journal of Oceanic Engineering, 1999, 24(2):237-252. [2] Tangorra J L, Davidson S N, Hunter I, et al. The developmentof a biologically inspired propulsor for unmanned underwater vehicles[J]. IEEE Journal of Oceanic Engineering, 2007, 32(3):533-550. [3] Phelan C, Tangorra J L, Lauder G V, et al. A biorobotic model of the sunfish pectoral fin for investigations of fin sensorimotor control[J]. Bioinspiration&Biomimetics, 2010, 5(3):1-14. [4] Lauder G V. Fish locomotion:Recent advances and new directions[J]. Marine Science, 2015, 7(7):521-545. [5] Lauder G V, Tangorra J L. Fish locomotion:Biology and robo-tics of body and fin-based movements[M]. Berlin, Germany:Springer, 2015:5-49. [6] 刘强,龚成龙,纪志成,咽颌运动模式仿生胸鳍的建模及试验研究[J].机械工程学报,2013,49(21):81-88.Liu Q, Gong C L, Ji Z C. Research on modeling and experiment of bionic pectoral fin of labriform[J]. Journal of Mechanical Engineering, 2013, 49(21):81-88. [7] 刘强,龚成龙,纪志成,咽颌模式仿生胸鳍的设计与实现[J].机器人,2013,35(4):484-490.Liu Q, Gong C L, Ji Z C. Design and implementation of bionic pectoral fin of labriform[J]. Robot, 2013, 35(4):484-490. [8] Tangorra J L, Mignano A, Carryon G, et al. Biologically derived models of the sunfish for experimental investigations of multi-fin swimming[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2011:580-587. [9] Matsuoka K. Sustained oscillations generated by mutually inhibiting neurons with adaptation[J]. Biological Cybernetics, 1985, 52(6):367-376. [10] Ijspeert A J. Central pattern generators for locomotion control in animals and robots:A review[J]. Neural Networks, 2008, 21(4):642-653. [11] Yu J Z, Tan M, Chen J, et al. A survey on CPG-inspired control models and system implementation[J]. IEEE Transactions on Neural Networks and Learning system, 2014, 25(3):441-456. [12] Degallier S, Ijspeert A. Modeling discrete and rhythmic movements through motor primitives:A review[J]. Biological Cybernetics, 2010, 103(4):319-338. [13] Liu Q, Wang J Z. Modeling and analysis of a new locomotion control neural network[J]. Biological Cybernetics, 2018, 112(4):345-356. [14] Liu Q, Yang H Z, Zhang J X, et al. A new model of the spinal locomotor networks of a salamander and its properties[J]. Biological Cybernetics, 2018, 112(4):369-385. [15] Ekeberg Ö. A combined neuronal and mechanical model of fish swimming[J]. Biological Cybernetics, 1993, 69(5):363-374. [16] Ijspeert A J. A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander[J]. Biological Cybernetics, 2001, 84(5):331-348. [17] Grillner S, Jessell T M. Measured motion:Searching for simplicity in spinal locomotor networks[J]. Current Opinion Neurobiology, 2009, 19(6):572-586. [18] Lauder G V, Drucker E G. Morphology and experimental hydrodynamics of fish fin control surfaces[J]. IEEE Journal of Oceanic Engineering, 2004, 29(3):556-571. [19] Drucker E G, Lauder G V. Locomotor forces on a swimming fish:Three-dimensional vortex wake dynamics quantified using digital particle image velocimetry[J]. The Journal of Experimental Biology, 1999, 202(18):2393-2412. [20] Lauder G V, Madden G A. Fish locomotion:Kinematics and hydrodynamics of flexible foil-like fins[J]. Experiments in Fluids, 2007, 43(5):641-653. [21] Bozkurttas M, Mittal R, Dong H, et al. Low-dimensional models and performance scaling of a highly deformable fish pectoral fin[J]. Journal of Fluid Mechanics, 2009, 631(9):311-342. [22] Tangorra J L, Lauder G V, Hunter I W, et al. The effect of fin ray flexural rigidity on the propulsive forces generated by abiorobotic fish pectoral fin[J]. The Journal of Experimental Biology, 2010, 213(23):4043-4054. [23] Shoele K, Zhu Q. Numerical simulation of a pectoral fin during labriform swimming[J]. The Journal of Experimental Biology, 2010, 213(12):2038-2047. [24] Drucker E G, Jensen J S. Kinematic and electromyographic analysis of steady pectoral fin swimming in surfperches[J]. The Journal of Experimental Biology, 1997, 200(12):1709-1723. [25] Westneat M W, Walker J A. Motor patterns of labriform locomotion:Kinematic and electromyographic analysis of pectoral fin swimming in the labrid fish gomphosus varius[J]. The Journal of Experimental Biology, 1997, 200(13):1881-1893. [26] Hale M E, Day R D, Thorsen D H, et al. Pectoral fin coordination and gait transitions in steadily swimming juvenile reef fishes[J]. The Journal of Experimental Biology, 2006, 209(19):3708-3718.