A Novel Movement Behavior Control Method for Carp Robot through the Stimulation of Medial Longitudinal Fasciculus Nucleus of Midbrain  

作　　者：Yang Zhao Yong Peng Yudong Wen Lingjun Han Hui Zhang Zheng Zhao Xiaoyue Liu 

机构地区：[1]School of Electrical Engineering,Yanshan University,Qinhuangdao 066004,China [2]Key Laboratory of National Defense of Mechanical Structure and Material Science Under Extreme Conditions,Yanshan University,Qinhuangdao 066004,China [3]Institute of Marine Science and Engineering,Yanshan University,Qinhuangdao 066004,China

出　　处：《Journal of Bionic Engineering》2022年第5期1302-1313,共12页仿生工程学报（英文版）

基　　金：This work was financially supported by the Project of National Natural Science Foundation of China(project number:61573305);Projectof Natural Science Foundation of Hebei Provinceof China(project number:F2019203511);National High-Tech Research and Development Plan of China(863 Plan)Project(2013AA***)Fund.

摘　　要：Biological robot is a kind of creature controlled by human beings by applying intervention signals through control technology to regulate biological behavior.At present,the research on bio-robot mainly focuses on terrestrial mammals and insects,while the research on aquatic animal robot is less.Early studies have shown that the medial longitudinal fasciculus nucleus(NFLM)of carp midbrain was related to tail wagging,but the research has not been applied to the navigation control of the carp robot.The purpose of this study is to realize the quantitative control of the forward and steering behavior of the carp robot by NFLM electrical stimulation.Under the condition of no craniotomy,brain electrode was implanted into the NFLM of the carp midbrain,and the underwater control experiment was carried out by applying different electrical stimulation parameters.Using the ImageJ software and self-programmed,the forward motion speed and steering angle of steering motion of the carp robot before and after being stimulated were calculated.The experimental results showed for the carp robot that was induced the steering motion,the left and right steering motion of 30°to 150°could be achieved by adjusting the stimulation parameters,for the carp robot that was induced the forward motion,the speed of forward motion could be controlled to reach 100 cm/s.The research lays a foundation for the accurate control of the forward and steering motion of the aquatic animal robot.

关 键 词：Carp robot MIDBRAIN Medial longitudinal fasciculus nucleus Electrical stimulation Steering motion control Forward motion control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]