CPG Motion Control for a Bionic Manta Ray Robot Fish Propelled by Flexible Pectoral Fin

NAN Kaigang; JIANG Sheng; ZHANG Jinhua; CHENG Haiyan

doi:10.11993/j.issn.2096-3920.202203009

Volume 31 Issue 2

Apr 2023

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Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(2): 201-210

NAN Kaigang, JIANG Sheng, ZHANG Jinhua, CHENG Haiyan. CPG Motion Control for a Bionic Manta Ray Robot Fish Propelled by Flexible Pectoral Fin[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 201-210. doi: 10.11993/j.issn.2096-3920.202203009

Citation:

NAN Kaigang, JIANG Sheng, ZHANG Jinhua, CHENG Haiyan. CPG Motion Control for a Bionic Manta Ray Robot Fish Propelled by Flexible Pectoral Fin[J]. Journal of Unmanned Undersea Systems, 2023, 31(2): 201-210. doi: 10.11993/j.issn.2096-3920.202203009

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CPG Motion Control for a Bionic Manta Ray Robot Fish Propelled by Flexible Pectoral Fin

doi: 10.11993/j.issn.2096-3920.202203009

Key Laboratory of Education, Ministry for Modern Design and Rotor-Bearing System, Xi’an Jiaotong University, Xi’an 710049, China

Received Date: 2022-03-11
Accepted Date: 2022-09-19
Rev Recd Date: 2022-04-15

Available Online: 2022-12-06

Abstract

Abstract

Considering a manta ray as the bionic object, this paper proposes a design scheme for a bionic manta-ray robot fish with flexible pectoral fin propulsion. A motion control strategy is designed based on a central pattern generator(CPG), the influence of control parameters is analyzed, and the performance of multiple motion modes is tested. First, the movement characteristics of the manta ray are analyzed, and an overall design scheme for the bionic manta ray robotic fish is proposed under the actual bionic function requirements. Then, to realize continuous and stable swimming of the bionic manta-ray robot fish in different swimming modes, a CPG motion control method is designed, and the influence of the control parameters is analyzed for the output signals of the designed CPG topology network structure. Finally, a further swimming test is conducted on the maneuverability of the bionic manta-ray robotic fish; the results verified that the bionic manta-ray robotic fish can flexibly realize various motion modes such as linear cruise, steering, floating, and diving, and therefore, it has excellent motion performance and application prospects.
- bionic manta ray robotic fish,
- flexible pectoral fin,
- central pattern generator,
- motion control

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References(20)

References

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