Study on the fish robot locomotion based on biomimetic method
Article
Figures
Metrics
Preview PDF
Reference
Related
Cited by
Materials
Abstract:
Locomotion behavior modeling is a key and difficult problem in the research field of robotic fish. In this paper, a novel biomimetic learning approach is applied to the movement patterns generation of a multi-joint robotic fish. Firstly, the real fish behaviors are recorded by video system. By analyzing the recorded data, three basic swimming patterns, “cruise”, “cruise in turning” and “C sharp turn”, are extracted. Then the general internal model (GIM) is employed to learn the swimming patterns of carangiform fishes. Based on the approximation ability and the temporal-spatial scalabilities of GIM, robotic fish owns the capability of learning, modifying and regenerating the similar swimming patterns of the real fish. Finally, autonomous obstacle avoidance behavior of the robotic fish is realized by combining infrared sensors and obstacle avoidance algorithm. The experiment result verifies the validity of the proposed biomimetic learning approach.
Keywords:
Project Supported:
Supported by National Science Foundation of China(61403054；61403053), Chongqing Natural Science Foundation(cstc2014jcyjA4002),and the Science Foundation Project of CQ Education Commison under Grant(KJ1400436).
