Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model

Yuan, Jun; Yu, Junzhi; Wu, Zhengxing; Tan, Min

doi:10.1109/robio.2015.7418780

Cited by 7 publications

(3 citation statements)

References 21 publications

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“…In this study, a Hopf oscillator-based CPG model is chosen to control the locomotion of the multi-joint robotic fish [31]. The coupled connections and topol-…”

Section: Central Pattern Generator (Cpg)-based Locomotion Controlmentioning

confidence: 99%

Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

Chen

Dong

et al. 2020

Bioinspir. Biomim.

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In this paper, a novel compliant joint with two identical torsion springs is proposed for a biomimetic multi-joint robotic fish, which enables imitatation of the swimming behavior of live fish. More importantly, a dynamic model based on the Lagrangian dynamic method is developed to explore the compliant passive mechanism. In the dynamic modeling, a simplified Morrison equation is utilized to analyze the hydrodynamic forces. Further, the parameter identification technique is employed to estimate numerous hydrodynamic parameters. The extensive experimental data with different situations match well with the simulation results, which verifies the effectiveness of the obtained dynamic model. Finally, motivated by the requirement for performance optimization, we firstly take advantage of a dynamic model to investigate the effect of joint stiffness and control parameters on the swimming speed and energy efficiency of a biomimetic multi-joint robotic fish. The results reveal that phase difference plays a primary role in improving efficiency and the compliant joint presents a more significant role in performance improvement when a smaller phase difference is given. Namely, at the largest actuation frequency, the maximum improvement of energy efficiency is obtained and surprisingly approximates 89%. Additionally, the maximum improvement in maximum swimming speed is about 0.19 body lengths per second. These findings demonstrate the potential of compliance in optimizing joint design and locomotion control for better performance.

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“…In this study, a Hopf oscillator-based CPG model is chosen to control the locomotion of the multi-joint robotic fish [31]. The coupled connections and topol-…”

Section: Central Pattern Generator (Cpg)-based Locomotion Controlmentioning

confidence: 99%

Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

Chen

Dong

et al. 2020

Bioinspir. Biomim.

View full text Add to dashboard Cite

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“…The best studied fish inspired robotic system is the laterally undulating robot (Cen and Erturk 2013, Jian-Xin and Xue-Lei 2011, Yu et al 2003, Ren et al 2012, Su et al 2014, Tomie et al 2005, Wang et al 2014, Xie et al 2020, Yu et al 2006, 2008, 2009, Yuan et al 2015, Zhang et al 2016, Yang et al 2018, though other systems exist (Blevins and Lauder 2013, Epstein et al 2005, Ming et al 2014, Neveln et al 2013. Since Hirata et al (2000), fish inspired robots explore different sizes (Chen et al 2018, Phamduy et al 2017, increased the number of segments (Bal et al 2019, Chen et al 2019, Su et al 2014, Wang et al 2014, Yu et al 2008, Yu and Tan 2020, and explored different actuator technologies (Chen et al 2018, Coral et al 2018, Ming et al 2013, Zhong et al 2017, Zhong et al 2018.…”

Section: Introductionmentioning

confidence: 99%

“…Many recent robotic models utilize central pattern generators (CPGs) to control locomotion which allows the robot to integrate feedback and react to its environment as opposed to being completely feed forward (Bal et al 2019, Wang et al 2019, Wang et al 2014, Wang et al 2011, Wang et al 2013, Xie et al 2019, Yang et al 2018, Yuan et al 2015. CPGs have several benefits for controlling fish robots: they are robust to disturbance, can integrate sensor feed back which allow the robot to respond to its environment, and can execute maneuvers outside the general undulating pattern (Ijspeert 2008).…”

Section: Introductionmentioning

confidence: 99%

Comparing the turn performance of different motor control schemes in multilink fish-inspired robots

2021

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Fish robots have many possible applications in exploration, industry, research, and continue to increase in design complexity, control, and the behaviors they can complete. Maneuverability is an important metric of fish robot performance, with several strategies being implemented. By far the most common control scheme for fish robot maneuvers is an offset control scheme, wherein the robot’s steady swimming is controlled by sinusoidal function and turns are generated biasing bending to one side or another. An early bio-inspired turn control scheme is based on the C-start escape response observed in live fish. We developed a control scheme that is based on the kinematics of routine maneuvers in live fish that we call the ‘pulse’, which is a pattern of increasing and decreasing curvature that propagates down the body. This pattern of curvature is consistent across a wide range of turn types and can be described with a limited number of variables. We compared the performance of turns using each of these three control schemes across a range of durations and bending amplitudes. We found that C-start and offset turns had the highest heading changes for a given set of inputs, whereas the bio-inspired pulse turns had the highest linear accelerations for a given set of inputs. However, pulses shift the conceptualization of swimming away from it being a continuous behavior towards it being an intermittent behavior that is built by combining individual bending events. Our bio-inspired pulse control scheme has the potential to increase the behavioral flexibility of bio-inspired robotic fish and solve some of the problems associated with integrating different swimming behaviors, despite lower maximal turning performance.

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Introduction

Yu¹,

Tan²

2019

Motion Control of Biomimetic Swimming Robots

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Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model

Cited by 7 publications

References 21 publications

Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint

Comparing the turn performance of different motor control schemes in multilink fish-inspired robots

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