首页|Bioinspired Closed-loop CPG-based Control of a Robotic Manta for Autonomous Swimming

Bioinspired Closed-loop CPG-based Control of a Robotic Manta for Autonomous Swimming

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Fish in nature exhibit a variety of swimming modes such as forward swimming,backward swimming,turning,pitching,etc.,enabling them to swim in complex scenes such as coral reefs.It is still difficult for a robotic fish to swim autonomously in a confined area as a real fish.Here,we develop an untethered robotic manta as an experimental platform,which consists of two flexible pectoral fins and a tail fin,with three infrared sensors installed on the front,left,and right sides of the head to sense the surrounding obstacles.To generate multiple swimming modes of the robotic manta and online switching of dif-ferent modes,we design a closed-loop Central Pattern Generator(CPG)controller based on distance information and use a combination of phase difference and amplitude of the CPG model to achieve stable and rapid adjustment of yaw angle.To verify the autonomous swimming ability of the robotic manta in complex scenes,we design an experimental scenario with a concave obstacle.The experimental results show that the robotic manta can achieve forward swimming,backward swim-ming,in situ turning within the concave obstacle,and finally exit from the area safely while relying on the perception of external obstacles,which can provide insight into the autonomous exploration of complex scenes by the biomimetic robotic fish.Finally,the swimming ability of the robotic manta is verified by field tests.

Biomimetic robotic mantaCentral Pattern GeneratorClosed-loop controlBackward swimming

Yiwei Hao、Yonghui Cao、Yingzhuo Cao、Xiong Mo、Qiaogao Huang、Lei Gong、Guang Pan、Yong Cao

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School of Marine Science and Technology,Northwestern Polytechnical University,Xi'an 710072,China

Unmanned Vehicle Innovation Center,Ningbo Institute of NPU,Ningbo 315103,China

Key Laboratory of Unmanned Underwater Vehicle Technology of Ministry of Industry and Information Technology,Xi'an 710072,China

National Key Research and Development ProgramNational Key Research and Development ProgramNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNingbo Natural Science Foundation

2020YFB13132002022YFC280520052001260522013812022J062

2024

10.1007/s42235-023-00424-z

仿生工程学报(英文版)
吉林大学

仿生工程学报(英文版)

CSTPCDEI
影响因子：0.837
ISSN：1672-6529
年,卷(期)：2024.21(1)
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