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Central Pattern Generator Model Design and Gait Control Research of Amphibious Robotic Fish
Author(s) -
Wenlin Yang,
Peng Wu,
Xiaoqi Zhou,
Ping Zhu,
Xinyu Liu
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2029/1/012109
Subject(s) - central pattern generator , control theory (sociology) , matlab , swing , generator (circuit theory) , power (physics) , fin , simulation , computer science , gait , digital pattern generator , process (computing) , engineering , topology (electrical circuits) , control (management) , physics , mechanical engineering , physiology , telecommunications , chip , quantum mechanics , artificial intelligence , rhythm , acoustics , biology , operating system , electrical engineering
Central Pattern Generator (CPG) has the characteristics of strong adaptability and various output forms, which is suitable for amphibious robotic fish whose environment may change at any time. According to the bionic prototype, the Hopf oscillators on ipsilateral and contralateral side were coupled to form a CPG network topology model, which was used to control the steering gear and realize the waveform propulsion of the fins. In MATLAB, parameters such as amplitude and frequency were set for the model to obtain the motion characteristics under five actual gaits. The output curve is consistent with the theory and the conversion flow field is smooth, which proves the correctness of the CPG model and can be used as the target of subsequent simulation. Finally, through ADAMS and MATLAB co-simulation, the output swing angle curve of the controlled object (steering gear) is obtained, which accords with the abovementioned control goal. This guaranteed the effectiveness of CPG model control. Moreover, the centroid and torque of the steering gear changes in the gait process of crawling and steering are especially analyzed, these changes indicate that the steering gear does not lose too much power during the rigid contact between the fin and the ground and prove the practical feasibility of the theory.

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