Controlling swimming and crawling in a fish robot using a central pattern generator

Crespi, Alessandro; Lachat, Daisy; Pasquier, Ariane; Ijspeert, Auke Jan

doi:10.1007/s10514-007-9071-6

Cited by 164 publications

(90 citation statements)

References 20 publications

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“…With the purpose of simplifying the stability proof as well as maintaining the intrinsic properties of the CPG network, we linearize the nonlinear phase oscillator proposed in [8] through the first-order Taylor expansion. Thus, the coupled linear oscillators take the formṡ…”

Section: Two-layer Open-loop Cpg Controllermentioning

confidence: 99%

“…They can be used to escape or to remove attachments from the animal's body surface. However, compared with yawing and pitching motions, the rolling motions of robotic fish have rarely been investigated in the literature, except regarding two kinds of robotic fish in Ijspeert's group [8] and Yu's group [9]. Thanks to the proposed CPG controller, we can just use input drive d r to make the robot perform a rolling motion, as shown in Figure 8.…”

Section: Rolling Motionmentioning

confidence: 99%

“…Moreover, the angular rate of the rolling motion can be controlled by adjusting input drive d v . Compared with the rolling motions in [8] and [9], observably, the boxfish-like robot needs fewer control parameters and it can accomplish both clockwise and counter-clockwise rolling behaviours, which will benefit upper controllers in real applications. …”

Section: Rolling Motionmentioning

confidence: 99%

“…First, by importing a transition layer, we primarily improve the open-loop CPG network proposed in [8] to generate all typical 3D swimming patterns with only four control parameters. Moreover, the stability of the built CPG model is proved strictly to ensure the intrinsic stability of swimming patterns.…”

Section: Introductionmentioning

confidence: 99%

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CPG-based Locomotion Controller Design for a Boxfish-like Robot

Wang

Xie

2014

International Journal of Advanced Robotic Systems

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This paper focuses on a Central Pattern Generator (CPG)-based locomotion controller design for a boxfish-like robot. The bio-inspired controller is aimed at flexible switching in multiple 3D swimming patterns and exact attitude control of yaw and roll such that the robot will swim more like a real boxfish. The CPG network comprises two layers, the lower layer is the network of coupled linear oscillators and the upper is the transition layer where the lower-dimensional locomotion stimuli are transformed into the higher-dimensional control parameters serving for all the oscillators. Based on such a two-layer framework, flexible switching between multiple three-dimensional swimming patterns, such as swimming forwards/backwards, turning left/right, swimming upwards/downwards and rolling clockwise/counter-clockwise, can be simply realized by inputting different stimuli. Moreover, the stability of the CPG network is strictly proved to guarantee the intrinsic stability of the swimming patterns. As to exact attitude control, based on this open-loop CPG network and the sensory feedback from the Inertial Measurement Unit (IMU), a closed-loop CPG controller is advanced for yaw and roll control of the robotic fish for the first time. This CPG-based online attitude control for a robotic fish will greatly facilitate high-level practical underwater applications. A series of relevant experiments with the robotic fish are conducted systematically to validate the effectiveness and stability of the open-loop and closed-loop CPG controllers.

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Section: Two-layer Open-loop Cpg Controllermentioning

confidence: 99%

Section: Rolling Motionmentioning

confidence: 99%

Section: Rolling Motionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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CPG-based Locomotion Controller Design for a Boxfish-like Robot

Wang

Xie

2014

International Journal of Advanced Robotic Systems

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“…There have been many research studies on replicating fishlike swimming [12,13] and snake-like serpentine motions [14][15][16] via artificial CPGs in past decades. For instance, Cohen et al [17] presented a simplified mathematical model to explain the intersegmental coordination of neural networks in the isolated spinal cord of the lamprey, while Crespi et al [18] extended a lamprey-like CPG-based model to control the locomotion of a fish robot on land and in water. Zhao et al [19] and Zhang et al [20] utilized a chain of nonlinear oscillators to construct a CPG for steady planar swimming.…”

mentioning

confidence: 99%

Multimodal swimming control of a robotic fish with pectoral fins using a CPG network

Wang

Tan

et al. 2012

Chin. Sci. Bull.

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The neural-based approaches inspired by biological neural mechanisms of locomotion are becoming increasingly popular in robot control. This paper investigates a systematic method to formulate a Central Pattern Generator (CPG) based control model for multimodal swimming of a multi-articulated robotic fish with flexible pectoral fins. A CPG network is created to yield diverse swimming in three dimensions by coupling a set of nonlinear neural oscillators using nearest-neighbor interactions. In particular, a sensitivity analysis of characteristic parameters and a stability proof of the CPG network are given. Through the coordinated control of the joint CPG, caudal fin CPG, and pectoral fin CPG, a diversity of swimming modes are defined and successfully implemented. The latest results obtained demonstrate the effectiveness of the proposed method. It is also confirmed that the CPG-based swimming control exhibits better dynamic invariability in preserving rhythm than the conventional body wave method. Robotic fish, inspired by fish in nature, have received increasing attention in recent years because of potential aquatic-related applications such as exploration, surveillance, transportation, and mobile sensing [1][2][3][4][5][6][7]. Many scientists and engineers have carried out studies on robotic fish, focusing not only on the hydrodynamics mechanism and bio-inspired practice of fishlike swimming, but also on motion planning, control, and optimization of the fishlike robots [2]. The current swimming control methods, from the perspective of cybernetics, tend to fall into two primary categories: bio-inspired and non-bio-inspired (conventional). The former is nourished by an abundance of biological knowledge of fish or other animals, while the latter relates to deriving control laws from a combined analysis of multi-body dynamics and kinematics. To achieve flexible swimming control, conventional locomotion control usually seeks to calculate propulsive forces and to determine the accompanying movements. Once the dynamic equation attached to each propulsive component has been identified via synthesizing all involved dynamic equations, the control laws can be obtained in terms of the resultant forces and kinematic parameters of the moving joints. As a rule, oscillatory frequency, amplitude, as well as phase difference between adjacent joints are usually extracted as the locomotion-related characteristics significantly affecting swimming performance. Many robotic fishes are controlled in such a manner, for example, the well-known Robotuna [8], the pectoral-fin-driven robotic Blackbass [9], and the lifelike Mitsubishi robotic fish [10]. However, two issues arise in determining appropriate swimming parameters: (1) the difficulty in accurately modeling the hydrodynamic interaction between the oscillating fish body and its surrounding fluid, and (2) an infinity of possible solutions in the hyper-redundant planar kinematic

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Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules

et al. 2022

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Amphibious robots can undertake various tasks in terrestrial and aquatic environments for their superior environmental compatibility. However, the existing amphibious robots usually utilize multi-locomotion systems with transmission mechanisms, leading to complex and bulky structures. Here, a miniature amphibious robot based on vibration-driven locomotion mechanism is developed. The robot has two unique rigid-flexible hybrid modules (RFH-modules), in which a soft foot and a flexible fin are arranged on a rigid leg to conduct vibrations from an eccentric motor to the environment. Then, it can run on ground with the soft foot adopting the friction locomotion mechanism and swim on water with the flexible fin utilizing the vibration-induced flow mechanism. The robot is untethered with a compact size of 75 × 95 × 21 mm 3 and a small weight of 35 g owing to no transmission mechanism or joints. It realizes the maximum speed of 815 mm s -1 on ground and 171 mm s -1 on water. The robot, actuated by the RFH-modules based on vibration-driven locomotion mechanism, exhibits the merits of miniature structure and fast movements, indicating its great potential for applications in narrow amphibious environments.

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Controlling swimming and crawling in a fish robot using a central pattern generator

Cited by 164 publications

References 20 publications

CPG-based Locomotion Controller Design for a Boxfish-like Robot

CPG-based Locomotion Controller Design for a Boxfish-like Robot

Multimodal swimming control of a robotic fish with pectoral fins using a CPG network

Miniature Amphibious Robot Actuated by Rigid‐Flexible Hybrid Vibration Modules

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