Work

Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

Year: 2019

Type: article

Abstract: This paper presents mechatronic design and hierarchical locomotion control of a biomimetic robotic fish for three-dimensional swimming modes. Inspired by biological features of Lamprey, a closed loop sensory feedback Central Pattern Generator (CPG) model is adapted to hierarchical control mechanism in order to provide robust and effective biomimetic control structure. A sensory feedback mechanism plays an important role to react external stimuli from environment. In addition, a closed loop fuzzy logic control structure is developed as a brain model to decide adaptive swimming modes according to sensory information. In order to provide three-dimensional motion abilities, the Centre of Gravity (CoG) control mechanism is designed and controlled by a back-forth proportional control structure. Experimental results are obtained to prove the CPG-based closed loop sensory feedback control structure with the developed robotic fish prototype.

Source: Journal of Marine Engineering & Technology

DOI: 10.1080/20464177.2019.1638703

Authors: Deniz Korkmaz, Gonca Ozmen Koca, Guoyuan Li, Cafer Bal, Mustafa Ay, Zuhtu Hakan Akpolat

Institutions: Fırat University, Norwegian University of Science and Technology, Fatih Sultan Mehmet Waqf University

Language: English

Topic: Biomimetic flight and propulsion mechanisms

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Türkiye Bilimsel ve Teknolojik Araştırma Kurumu

Award: Üç Boyutlu Hareket Kabiliyetine Sahip Carangiform Türünde Bir Biyomimetik Robot Balığın Tasarımı ve Gerçeklemesi