CPGs control method using a new oscillator in robotic fish

A new oscillator is presented in this paper based on our pervious oscillator (Zhang’s oscillator). Using this new oscillator, a bionic neural control system, the central pattern generators (CPGs) control system, is built. This control system has a two-level form. To validate the function of this new oscillator and the control system, simulations and experiments were both carried out, a simple robotic fish was built with three joints, and the results showed that the new oscillator can be used in startup and stop control mode, angle offset control mode and amplitude changing control mode. The new oscillator can be used in bionic CPGs control area with a simple form, and may be a new progress in bionic control.

[1]  Junzhi Yu,et al.  Development of a biomimetic robotic fish and its control algorithm , 2004, IEEE Trans. Syst. Man Cybern. Part B.

[2]  I. Rybak,et al.  Modeling neural mechanisms for genesis of respiratory rhythm and pattern. II. Network models of the central respiratory pattern generator. , 1997, Journal of neurophysiology.

[3]  Kiyotoshi Matsuoka,et al.  Mechanisms of frequency and pattern control in the neural rhythm generators , 1987, Biological Cybernetics.

[4]  F. Delcomyn.  Neural basis of rhythmic behavior in animals. , 1980, Science.

[5]  P.R. Bandyopadhyay,et al.  Trends in biorobotic autonomous undersea vehicles , 2005, IEEE Journal of Oceanic Engineering.

[6]  Daibing Zhang,et al.  Design of a Central Pattern Generator for Bionic-robot Joint with Angular Frequency Modulation , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[7]  K.M. Lynch,et al.  Mechanics and control of swimming: a review , 2004, IEEE Journal of Oceanic Engineering.

[8]  Zhang Daibing,et al.  A Novel Bionic Neural Network Control Method for Vivid Animation of Virtual Animal's Locomotion , 2006, 2007 Chinese Control Conference.

[9]  E. Marder,et al.  Central pattern generators and the control of rhythmic movements , 2001, Current Biology.

[10]  Tetsuya Asai,et al.  Design of an Artificial Central Pattern Generator with Feedback Controller , 2004, Intell. Autom. Soft Comput..

[11]  T. Brown.  On the nature of the fundamental activity of the nervous centres; together with an analysis of the conditioning of rhythmic activity in progression, and a theory of the evolution of function in the nervous system , 1914, The Journal of physiology.

[12]  J. Cowan,et al.  Excitatory and inhibitory interactions in localized populations of model neurons. , 1972, Biophysical journal.

[13]  D. P. Miller.  Design of a small, cheap UUV for under-ship inspection and salvage , 1996, Proceedings of Symposium on Autonomous Underwater Vehicle Technology.

[14]  Daibing Zhang,et al.  Design of an artificial bionic neural network to control fish-robot's locomotion , 2008, Neurocomputing.