Open AccessRhythm motion control in bio‐inspired fishtail based on central pattern generator
Author(s) -
Chen Song,
Liu Yubiao,
Chen Tehuan,
Lou Junqiang
Publication year - 2021
Publication title -
iet cyber‐systems and robotics
Language(s) - English
Resource type - Journals
ISSN - 2631-6315
DOI - 10.1049/csy2.12007
Subject(s) - central pattern generator , multiphysics , generator (circuit theory) , oscillation (cell signaling) , coupling (piping) , motion (physics) , physics , control theory (sociology) , equations of motion , classical mechanics , computer science , mathematics , rhythm , engineering , acoustics , finite element method , control (management) , mechanical engineering , power (physics) , artificial intelligence , genetics , quantum mechanics , biology , thermodynamics
The elastic oscillation structure based on central pattern generators (CPGs), which can produce rhythmic motions, is discussed. First, Hopf CPG, the typical CPG model, being a signal generator for the elastic oscillation structure, is analysed via the theory of differential equations. Next, the well‐posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi‐group theory. Then, the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG network. Finally, the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics.