A Novel Movement Behavior Control Method for Carp Robot through the Stimulation of Medial Longitudinal Fasciculus Nucleus of Midbrain
作者机构：School of Electrical EngineeringYanshan UniversityQinhuangdao 066004China Key Laboratory of National Defense of Mechanical Structure and Material Science Under Extreme ConditionsYanshan UniversityQinhuangdao 066004China Institute of Marine Science and EngineeringYanshan UniversityQinhuangdao 066004China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2022年第19卷第5期
页 面：1302-1313页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程]
基 金：This work was financially supported by the Project of National Natural Science Foundation of China(project number:61573305) Projectof Natural Science Foundation of Hebei Provinceof China(project number:F2019203511) National High-Tech Research and Development Plan of China(863 Plan)Project(2013AA***)Fund
主 题：Carp robot Midbrain Medial longitudinal fasciculus nucleus Electrical stimulation Steering motion control Forward motion control
摘 要：Biological robot is a kind of creature controlled by human beings by applying intervention signals through control technology to regulate biological *** present,the research on bio-robot mainly focuses on terrestrial mammals and insects,while the research on aquatic animal robot is *** studies have shown that the medial longitudinal fasciculus nucleus(NFLM)of carp midbrain was related to tail wagging,but the research has not been applied to the navigation control of the carp *** purpose of this study is to realize the quantitative control of the forward and steering behavior of the carp robot by NFLM electrical *** the condition of no craniotomy,brain electrode was implanted into the NFLM of the carp midbrain,and the underwater control experiment was carried out by applying different electrical stimulation *** the ImageJ software and self-programmed,the forward motion speed and steering angle of steering motion of the carp robot before and after being stimulated were *** experimental results showed for the carp robot that was induced the steering motion,the left and right steering motion of 30°to 150°could be achieved by adjusting the stimulation parameters,for the carp robot that was induced the forward motion,the speed of forward motion could be controlled to reach 100 cm/*** research lays a foundation for the accurate control of the forward and steering motion of the aquatic animal robot.
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