Central Pattern Generator (CPG)-Based Locomotion Control and Hydrodynamic Experiments of Synergistical Interaction between Pectoral Fins and Caudal Fin for Boxfish-like Robot

Chen, Lin; Cai, Yueri; Bi, Shusheng

doi:10.3390/biomimetics8040380

Cited by 4 publications

(2 citation statements)

References 54 publications

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“…One common and effective form of propulsion for AUVs and robotic systems is pulse jet propulsion. This system takes the form of four different classes, Chen et al [95] • Developed a 6-DOF bionic boxfish-like robot with 2-DOF pectoral fins and a caudal fin for underwater swimming. • CPG parameters on propulsion performance, revealing the importance of amplitude and frequency, with optimal propulsion observed at 1 Hz.…”

Section: System Based On Jet Propulsionmentioning

confidence: 99%

Bioinspiration and biomimetics in marine robotics: a review on current applications and future trends

Prakash,

Nair,

Arunav

et al. 2024

Bioinspir. Biomim.

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Over the past few years, the research community has witnessed a burgeoning interest in biomimetics, particularly within the marine sector. The study of biomimicry as a revolutionary remedy for numerous commercial and research-based marine businesses has been spurred by the difficulties presented by the harsh maritime environment. Biomimetic marine robots are at the forefront of this innovation by imitating various structures and behaviours of marine life and utilizing the evolutionary advantages and adaptations these marine organisms have developed over millennia to thrive in harsh conditions. This thorough examination explores current developments and research efforts in biomimetic marine robots based on their propulsion mechanisms. By examining these biomimetic designs, the review aims to solve the mysteries buried in the natural world and provide vital information for marine improvements. In addition to illuminating the complexities of these bio-inspired mechanisms, the investigation helps to steer future research directions and possible obstacles, spurring additional advancements in the field of biomimetic marine robotics. Considering the revolutionary potential of using nature's inventiveness to navigate and thrive in one of the most challenging environments on Earth, the conclusion of the current review urges a multidisciplinary approach by integrating robotics and biology. The field of biomimetic marine robotics not only represents a paradigm shift in our relationship with the oceans, it also opens previously unimaginable possibilities for sustainable exploration and use of marine resources by understanding and imitating nature's solutions.

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Section: System Based On Jet Propulsionmentioning

confidence: 99%

Bioinspiration and biomimetics in marine robotics: a review on current applications and future trends

Prakash,

Nair,

Arunav

et al. 2024

Bioinspir. Biomim.

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show abstract

“…Zigen proposed a theoretical approach to build a new gait CPG controller for a quadruped locomotive based on delayed coupling VDP oscillators [27]. Lin et al used a controller based on central pattern generators (CPGs) to coordinate the motion of the pectoral and caudal fins [28], achieving biomimetic motion of boxfish-like robots. While the above research utilizes CPG models to control specific robot movements, research on CPGs for millipede-style multi-legged robots is relatively scarce, and existing models are rather complex.…”

Section: Introductionmentioning

confidence: 99%

Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot

Yin,

Shi,

Liu

2024

Biomimetics

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Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs a novel multi-segment biomimetic robot based on an in-depth investigation of the millipede’s biological characteristics and locomotion mechanisms. Key leg joints of millipede locomotion are targeted, and a mathematical model of the biomimetic robot’s leg joint structure is established for kinematic analysis. Furthermore, a central pattern generator (CPG) control strategy is studied for multi-jointed biomimetic millipede robots. Inspired by the millipede’s neural system, a simplified single-loop CPG network model is constructed, reducing the number of oscillators from 48 to 16. Experimental trials are conducted using a prototype to test walking in a wave-like gait, walking with a leg removed, and walking on complex terrain. The results demonstrate that under CPG waveform input conditions, the robot can walk stably, and the impact of a leg failure on overall locomotion is acceptable, with minimal speed loss observed when walking on complex terrain. The research on the structure and motion control algorithms of multi-jointed biomimetic robots lays a technical foundation, expanding their potential applications in exploring unknown environments, rescue missions, agriculture, and other fields.

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Hydrodynamic pressure sensing for a biomimetic robotic fish caudal fin integrated with a resistive pressure sensor

Zhao,

Zhang,

Chen

et al. 2024

Bioinspir. Biomim.

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Micro-sensors, such as pressure and flow sensors, are usually adopted to attain actual fluid information around swimming biomimetic robotic fish for hydrodynamic analysis and control. However, most of the reported micro-sensors are mounted discretely on body surfaces of robotic fish and it is impossible to analyzed the the hydrodynamics between the caudal fin and the fluid. In this work, a biomimetic caudal fin integrated with a resistive pressure sensor is designed and fabricated by laser machined conductive carbon fibre composites. To analyze the pressure exerted on the caudal fin during underwater oscillation, the pressure on the caudal fin is measured under different oscillating frequencies and angles. Then a model developed from Bernoulli equation indicates that the maximum pressure difference is linear to the quadratic power of the oscillating frequency and the maximum oscillating angle. The fluid disturbance generated by caudal fin oscillating increases with an increase of oscillating frequency, resulting in the decrease of the efficiency of converting the kinetic energy of the caudal fin oscillation into the pressure difference on both sides of the caudal fin. However, perhaps due to the longer stability time of the disturbed fluid, this conversion efficiency increases with the increase of the maximum oscillating angle. Additionally, the pressure variation of the caudal fin oscillating with continuous different oscillating angles is also demonstrated to be detected effectively. It is suggested that the caudal fin integrated with the pressure sensor could be used for sensing the in situ flow field in real time and analysing the hydrodynamics of biomimetic robotic fish.

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Central Pattern Generator (CPG)-Based Locomotion Control and Hydrodynamic Experiments of Synergistical Interaction between Pectoral Fins and Caudal Fin for Boxfish-like Robot

Cited by 4 publications

References 54 publications

Bioinspiration and biomimetics in marine robotics: a review on current applications and future trends

Bioinspiration and biomimetics in marine robotics: a review on current applications and future trends

Structural Design and Control Research of Multi-Segmented Biomimetic Millipede Robot

Hydrodynamic pressure sensing for a biomimetic robotic fish caudal fin integrated with a resistive pressure sensor

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