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Bioinspired Closed-loop CPG-based Control of a Robotic Manta for Autonomous swimming

Journal of Bionic Engineering 2024年第1期21卷 177-191页

作者： Yiwei Hao Yonghui Cao Yingzhuo Cao Xiong Mo Qiaogao Huang Lei Gong Guang Pan Yong Cao School of Marine Science and Technology Northwestern Polytechnical UniversityXi'an 710072China Unmanned Vehicle Innovation Center Ningbo Institute of NPUNingbo 315103China Key Laboratory of Unmanned Underwater Vehicle Technology of Ministry of Industry and Information Technology Xi'an 710072China

Fish in nature exhibit a variety of swimming modes such as forward swimming,backward swimming,turning,pitching,etc.,enabling them to swim in complex scenes such as coral reefs.It is still difficult for a robotic fish to swim autonomously in a confined area as a real fish.Here,we develop an untethered robotic manta as an experimental platform,which consists of two flexible pectoral fins and a tail fin,with three infrared sensors installed on the front,left,and right sides of the head to sense the surrounding obstacles.To generate multiple swimming modes of the robotic manta and online switching of different modes,we design a closed-loop Central Pattern Generator(CPG)controller based on distance information and use a combination of phase difference and amplitude of the CPG model to achieve stable and rapid adjustment of yaw angle.To verify the autonomous swimming ability of the robotic manta in complex scenes,we design an experimental scenario with a concave obstacle.The experimental results show that the robotic manta can achieve forward swimming,backward swimming,in situ turning within the concave obstacle,and finally exit from the area safely while relying on the perception of external obstacles,which can provide insight into the autonomous exploration of complex scenes by the biomimetic robotic fish.Finally,the swimming ability of the robotic manta is verified by field tests.

关键词： Biomimetic robotic manta Central Pattern Generator Closed-loop control backward swimming

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Kinematic Comparison of Forward and backward swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish

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Journal of Bionic Engineering 2014年第2期11卷 199-212页

作者： Zhengxing Wu Junzhi Yu Min Tan Jianwei Zhang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 P. R. China Department of Informatics University of Hamburg Hamburg Germany

We make a thorough kinematic comparison of forward and backward swimming and maneuvering on a self-propelled robot platform that uses sub-carangifbrm swimming as the primary propulsor. An improved Central Pattern Generator （CPG） model allowing free adjustment of phase relationship and directional bias is employed to achieve flexible swimming and smooth transition. Considering the characteristics of forward swimming in carangiform fish and backward swimming in anguilliform fish, various backward swimming patterns for the sub-carangiform robotic fish are suitably created by reversing the direction of propagating propulsive waves. Through a combined use of the CPG control and closed-loop swimming direction control strategy, flexible and precise turning maneuvers in both forward and backward swimming are implemented and compared. By contrast with forward swimming, backward swimming requires a higher frequency or an increased lateral displacement to reach the same relative swimming speed. Noticeably, the phase difference shows a greater impact on forward swimming than on backward swimming. Our observations also indicate that the robotic fish achieves a larger turning rate in forward maneuvering than in backward maneuvering, yet these two maneuvers display comparable turning precision.

关键词： robotic fish backward swimming Central Pattern Generator （CPG） swimming locomotion control

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A COMPUTATIONAL STUDY ON backwardS WI MMING HYDRODYNAMICS IN THE EELANGUILLA ANGUILLA

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Journal of Hydrodynamics 2005年第4期17卷 438-447页

作者： HU Wen-rong TONG Bin-gang MA Hui-yang LIU Hao Department of Physics Graduate School of the Chinese Academy of Sciences Beijing 100039 China Department of Engineering Mechanics Shanghai Jiaotong University Shanghai 200240 China Department of Electronics and Mechanical Engineering Chiba University Japan

Eels can perform both forward and backward undulatory swimming but few studies are seen on how eels propel themselves backward. A computational study on the unsteady hydrodynamicsoof the backward swimming in the eel anguilla anguilla is carried out and presented. A two-dimensional geometric model of the European eel body in its middle horizontal section is appropriately approximated by a NACA0005 airfoil. Kinematic data of the backward and forward swimming eel used in the computational modeling are based on the experimental results of the European eel. Present study provided the different flow field characteristics of three typical cases in the backward swimming, and confirmed the guess of Wu： When the eel swims steadily, the vortex centers of the reversed von Kármán vortex street are aligned approximately. An extensive comparison between the backward and forward swimming further reveals that the controllable parameters, such as frequency, amplitude and wavelength of the traveling wave, have a similar influence on the propulsion performance as in forward swimming. But it is shown that the backward swimming does not be a ＂reversed＂ forward swimming one. The backward swimming does show significant discrepancy in the propulsion performance： utilization of a constant-amplitude wave profile enables larger force generation for maneuverability but with much lower propulsive efficiency instead of the linear-increasing amplitude wave profile in the forward swimming. The actual swimming modes eels choose is the best choice associated with their propulsive requirement, as well as their physiological and ecological adaptation.

关键词： anguilla anguilla backward swimming hydrodynamics 2-D N-S equation solution

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