CPG feedback control method of biomimetic robot fish movement

Abstract

The invention relates to a CPG (Certified Program Generator) feedback control method of biomimetic robot fish movement, comprising the following steps of: providing a CPG feedback control model for receiving feedback signals by using different parts of a high-level control module, a CPG, a motor neuron, and the like; receiving biomimetic robot fish body state information and water environment information by the high-level control module; transmitting a corresponding command by treating the information and making a decision; and selecting a corresponding movement moulding plate to determine a suitable CPG configuration, wherein the suitable CPG configuration is used for controlling the parts of the biomimetic robot fish body to carry out rhythmic movement and non-rhythmic movement. The invention provides a reference for the feedback control theoretical design of the biomimetic robot fish movement and can realize mobile, flexible and independent autokinetic movement.

Description

technical field [0001] The invention belongs to the technical field of bionics, and relates to a CPG feedback control method for the motion of a bionic robot fish based on different feedback signal receiving parts. Background technique [0002] Central Pattern Generator (CPG) is a kind of neuronal circuit existing in the central nervous system of invertebrates and vertebrates. It produces rhythmic behaviors such as walking, swimming, flying, breathing, and chewing without rhythmic control or feedback input. To achieve autonomous movement, bionic robots must introduce environmental information and the state of the robot body. However, most robot CPG models are composed of nonlinear differential equations, which makes it difficult to implement feedback control. Although CPG-based robot motion feedback control has received more and more attention, most of the research is still in its infancy, and the specific implementation scheme of the CPG feedback control method has not bee...

AI Technical Summary

Problems solved by technology

To achieve autonomous movement, bionic robots must introduce environmental information and the state of the robot body, but most of the robot CPG models are composed of nonlinear differential equations, which makes it difficult to implement feedback control

Although CPG-based robot motion feedback control has received more and more attention, most of the research is still in its infancy, and the specific implementation of the CPG feedback control method has not been clearly given.

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