Research on CPG Control of Caudal Fin Driven Bionic Robot Fish
With the increase of people's attention to marine resources,higher requirements are put forward for the swimming per-formance of bionic robotic fish.In order to make the robot fish swim closer to the swimming effect of real fish,the swimming mode of underwater bionic robotic fish was studied according to the fish body wave curve of Light Hill's large swing slender body theory,and the nonlinear oscillator model was established by using HOPF neural oscillator model.The CPG control network to-pology is constructed by using the nearest neighbor coupling relationship,and the CPG control model is established.By adjusting the CPG control parameters,the multi-mode control and switching of robotic fish are realized.According to the swimming mode of Carangidae bionic robot fish,SolidWorks 3D modeling was carried out,and the motion simulation was carried out in ADAMS,and the solid prototype was built.The experimental results show that using HOPF based chain coupling central mode generator to control the drive of the rudder,the swing of the tail fins of the robot has good motion flexibility,and it is easy to real-ize the smooth switching of the motion mode,and the swimming is more flexible.This has laid a solid foundation for the research of robotic fish to perform more complex tasks in the ocean.
NETL
NSTL
万方数据
维普
