CAJ | 학술논문

结合仿生游动机理,针对胸鳍推进型机器鱼提出了一种基于中枢模式发生器(CPG)的运动控制方法.该模型采用一类振荡频率和幅值町以独立控制的非线性微分方程作为其神经元振荡器模型,通过最近相邻耦合的方式,对n个这样的神经元振荡器进行耦合,构建了仿生机器鱼的CPG网络模型.证明了此模型单个神经元振荡器的极限环的存在性、唯一性及稳定性.在此基础上,通过对胸鳍推进的运动学分析,导出机器人直游、倒游、胸鳍-尾鳍协调运动等多种模式的运动控制方法.仿真及实验结果验证了此中枢模式发生器模型的可行性与所提控制方法的有效性.
결합방생유동궤리,침대흉기추진형궤기어제출료일충기우중추모식발생기(CPG)적운동공제방법.해모형채용일류진탕빈솔화폭치정이독립공제적비선성미분방정작위기신경원진탕기모형,통과최근상린우합적방식,대n개저양적신경원진탕기진행우합,구건료방생궤기어적CPG망락모형.증명료차모형단개신경원진탕기적겁한배적존재성、유일성급은정성.재차기출상,통과대흉기추진적운동학분석,도출궤기인직유、도유、흉기-미기협조운동등다충모식적운동공제방법.방진급실험결과험증료차중추모식발생기모형적가행성여소제공제방법적유효성.
This paper presents a central pattern generator (CPG) based locomotion control method for a pectoral-fin pro-pelled robotic fish with considering the bio-inspired swimming mechanism.A nonlinear differential equation is employed as the model of neural oscillators, in which undulation frequency and amplitude can be modulated independently.With nearest-neighbor coupling connections, the CPG network model is constructed by coupling n such neural oscillators.The existence, uniqueness and stabifity of the limit cycle of its neural oscillator are proved.Based on the kinematic analysis of pectoral-fin based propulsion, the control methods of swimming forward and backward as well as pectoral-fin and body-caudal-fin co-ordination motion for the robotic fish are derived.Simulations and experimental results validate the feasibility of the CPG model and the effectiveness of the proposed control methods.