Title :
A CPG-based sensory feedback control method for robotic fish locomotion
Author :
Wang Ming ; Yu Junzhi ; Tan Min ; Zhang Guiqing
Author_Institution :
Sch. of Inf. & Electr. Eng., Shandong Jianzhu Univ., Jinan, China
Abstract :
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 robotic fish in water. A two-phase CPG-based control architecture to implement the autonomous locomotion in robotic fish has been proposed. The whole process of the control architecture is divided into two phases: the upper decision-making and the automatic adjustment. According to the upper command from the controller and the sensory input, a proposed finite state machine algorithm determines locomotion gaits such as straight forward/backward, turning left/right, floating up/swimming down, and so on, and modify the coupling forms and controlling parameters. And then, the CPG model with sensory feedback takes charge the autonomous locomotion control. This sensory feedback control method can improve the adaptation of the system to environmental changes, external requirements, or proprioceptive information. Corresponding experimental results validate the CPG-based sensory feedback control method, which can be extended to other robotic applications.
Keywords :
feedback; finite state machines; mobile robots; motion control; CPG-based sensory feedback control; automatic adjustment; autonomous locomotion control; center pattern generator; finite state machine; robotic fish locomotion; two-phase CPG-based control architecture; upper decision-making; Robot sensing systems; CPG; Environmental sensing; Robotic fish; Sensory Feedback; Swimming control;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768