基于CPG控制的双髻鲨仿生机器人设计与实验研究  

Bionic Robot Inspired by the Hammerhead Shark with a CPG-Based Controller

作　　者：周宇斐 岳新阳 宋自根[1] Zhou Yufei;Yue Xinyang;Song Zigen(School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092,China)

机构地区：[1]同济大学航空航天与力学学院,上海200092

出　　处：《动力学与控制学报》2024年第2期94-99,共6页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(12172212);中央高校基本科研业务费专项资金资助(22120220588)。

摘　　要：随着人类对自然的探索越来越深入,新型水下航行器的需求与日俱增,仿生机器人因其特殊的推进方式和高效的推进效率而受到越来越多的关注,而传统的仿生鱼类仅模拟了流线型外壳,少有提及仿生对象本身结构对于仿生性能的影响,本文提出了一种基于中央模式发生器(CPG)的类双髻鲨仿生机器人.以鱼类基本运动形态为基础,将鱼身抽象为关节连杆结构,建立了三关节四连杆的仿生机器鱼模型并进行了仿真计算.根据步态规律预估了其运动性能,随后通过实验验证了可行性.本仿生鱼旨在以简单的机械结构和较低的控制成本,实现对双髻鲨的最大限度模拟,得益于良好的仿生结构,中央模式发生器的引入,以及柔性硅胶材料在鱼身的应用,此机器人拥有体型小,控制简单,地形适应能力强,能量利用率高等特点,与传统水下推进器相比噪音更小,环境适应能力更强,在科研、农业等行业均具有广泛的应用前景,如野外勘测,水下救援,水域巡逻等.ed into a jointed linkage structure,and a biomimetic fish model with three joints and four linkages was established and subjected to simulation calculations.The movement performance was estimated based on gait patterns,and feasibility was subsequently verified through experiments.This biomimetic fish aims to achieve maximum simulation of the thresher shark with simple mechanical structure and economical control costs.Thanks to its well-designed biomimetic structure,the introduction of a central pattern generator,and the application of flexible silicone material in the fish body,this robot possesses characteristics such as small size,simple control,strong terrain adaptability,and high energy utilization efficiency.Compared to traditional underwater propellers,it exhibits lower noise and stronger environmental adaptability.It has broad potential applications in industries such as scientific research,agriculture,and fields like field surveys,underwater rescue,and water patrol.

关 键 词：仿生机器人 类双髻鲨仿生 中央模式发生器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] Q811[自动化与计算机技术—控制科学与工程]