A CPG-based sensory feedback control method for robotic fish locomotion
作者： Junzhi Yu , Min Tan , Guiqing Zhang , Ming Wang
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摘要: This paper deals with a Center Pattern Generator (CPG) centered sensory feedback control method for robotic fish locomotion, which improves the maneuverability and adaptability of in water. A two-phase CPG-based architecture to implement autonomous locomotion has been proposed. The whole process is divided into two phases: upper decision-making automatic adjustment. According command from controller input, proposed finite state machine algorithm determines gaits such as straight forward/backward, turning left/right, floating up/swimming down, so on, modify coupling forms controlling parameters. And then, CPG model takes charge control. can improve adaptation system environmental changes, external requirements, or proprioceptive information. Corresponding experimental results validate method, be extended other applications.
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