CPG Network Optimization for a Biomimetic Robotic Fish via PSO.

Junzhi Yu, Zhigang Wu, Mengmeng Wang,Min Tan

IEEE Transactions on Neural Networks and Learning Systems（2016）

引用 87|浏览32

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摘要

In this brief, we investigate the parameter optimization issue of a central pattern generator (CPG) network governed forward and backward swimming for a fully untethered, multijoint biomimetic robotic fish. Considering that the CPG parameters are tightly linked to the propulsive performance of the robotic fish, we propose a method for determination of relatively optimized control parameters. Withi...

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关键词

Optimization,Oscillators,Mathematical model,Robot sensing systems,Robot kinematics,Learning systems

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