水生动物机器人的研究现状与进展  

Research Status and Progress of Aquatic Animal Robots

作　　者：彭勇[1,2,3] 张慧 赵洋 赵政 问育栋 韩领军 Peng Yong;Zhang Hui;Zhao Yang;Zhao Zheng;Wen Yudong;Han Lingjun(College of Electrical Engineering,Yanshan University,Qinhuangdao 066004,Hebei,China;Key Laboratory of National Defense of Mechanical Structure and Materials Science under Extreme Conditions,Yanshan University,Qinhuangdao 066004,Hebei,China;Institute of Marine Science and Engineering,Yanshan University,Qinhuangdao 066004,Hebei,China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004 [2]燕山大学极端条件下机械结构和材料科学国防重点学科实验室,河北秦皇岛066004 [3]燕山大学海洋科学与工程研究院,河北秦皇岛066004

出　　处：《中国生物医学工程学报》2023年第5期610-616,共7页Chinese Journal of Biomedical Engineering

基　　金：国家自然科学基金(61573305);河北省自然科学基金(F2022203038,F2019203511);国家高技术研究发展计划(863计划)项目(2014AA****)。

摘　　要：生物机器人是人类通过控制技术施加干预信号调控生物行为,从而实现人类可操控的生物,是融合多学科和多专业理论与技术的产物。由于水生动物具有运动灵活、活动隐蔽、适应环境、自主供能等突出的优势特性,而成为水生动物机器人的研发对象,更具科学研究意义与实际应用价值。根据神经科学理论和国际常用的生物控制方法,介绍刺激感受器、刺激神经中枢和刺激效应器等3种类型的水生动物机器人,综述其控制方法及机制,阐述其中的控脑技术,并就发展趋势进行展望。Biological robot is the organism that is used by human to apply intervention signals to regulate the biological behaviors,which achieve the manipulation by human control technology.Biological robot integrates multi-disciplinary theories and technologies.Due to the unique advantages and outstanding features of aquatic animals,such as mobility,concealment of activities,environmental adaptability,and independent energy supply,aquatic animal robot is of scientific research significance and important practical application value.According to neuroscience theory and internationally commonly used biological control methods,this paper reviewed the control methods and mechanisms of aquatic animal robots from three aspects including stimulus receptors,nerve centers and effectors,and elaborated and analyzed the control methods of these three types of aquatic animal robots.Among them,brain control technology is the most effective and essential control method.In this paper,perspectives of the brain control technology and mechanism of aquatic robot were discussed as well.

关 键 词：水生动物机器人 感受器 神经中枢 效应器 生物控制 

分 类 号：R318[医药卫生—生物医学工程]