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.
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