基于CPG的仿生机器鳕鱼运动控制研究  

Research on Locomotion Control of Biomimetic Robotic Cod Based on CPG

作　　者：夏文卿 李宗刚[1] 葛立明[1] 石慧荣[1] XIA Wen-qing;LI Zong-gang;GE Li-ming;SHI Hui-rong(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电工程学院

出　　处：《兰州交通大学学报》2019年第2期86-92,共7页Journal of Lanzhou Jiaotong University

基　　金：国家自然科学基金(61663020);甘肃省高等学校科研项目成果转化项目(2018D-10)

摘　　要：针对仿生机器鱼运动控制中的鲁棒性问题,以胸/尾鳍协同推进的仿生机器鳕鱼为研究对象,基于Hopf振荡器建立各自由度的CPG控制器,并运用双向邻近耦合方法构建CPG控制网络.通过改变CPG控制器的频率、幅值、相位差以及偏置量等参数,利用仿真和实验研究相结合的方法,确定机器鱼直游、转弯、倒游等基本行为的条件.仿真与实验结果表明,在此CPG网络控制下,机器鱼在不同游动行为或同一游动行为加减速过程中游动状态均能实现平滑过渡,验证了所建CPG网络的鲁棒性.Aiming at the robustness problem in the locomotion control of bionic robot fish,the biomimetic robotic cod propelled by pectoral fins and caudal finis is taken as the research object.The CPG (central pattern generator) controller of each degree of freedom is developed based on Hopf oscillator,and the CPG network is constructed by applying the bidirectional nearest neighbor coupling connections.The conditions of the basic behaviors of robotic fish such as forward swimming,turning,backward swimming have been determined by adjusting the frequency,amplitude,phase lag,bias,etc.of each CPG controller and employing the method of simulation and experiment.Simulation and experimental results show that a smooth transition can be achieved between different swimming states of the robotic fish in different swimming behaviors or in the acceleration and deceleration of the same behavior,and the robustness of the CPG network has been verified.

关 键 词：仿生机器鱼 中枢模式发生器(CPG) 参数设置 模式生成 模式切换 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]