【摘 要】
：
This paper aims to develop a robofish with the biomimetic undulatory fin,and control it to mimic the bionic protype by central pattern generators(CPGs).First,the undulatory characteristics of the fres
【机 构】
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College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,
【出 处】
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The 5th International Conference of Bionic Engineering 第五届国际
论文部分内容阅读
This paper aims to develop a robofish with the biomimetic undulatory fin,and control it to mimic the bionic protype by central pattern generators(CPGs).First,the undulatory characteristics of the freshwater stingray were analyzed quantitatively.Second,a robofish with undulatory pectoral fin was developed according to the bionic morphology and kinematics.Third,the CPG network was created to mimic the freshwater stingray and accomplish three-dimensional(3D)motions.Finally,the experiments were conducted to verify the authors work.The results demonstrate that the CPGs is an effective method controlling the robofish to imitate the freshwater stingray realistically.In addition,the robofish can accomplish 3D motions of high maneuverability,and change among different swimming modes quickly and smoothly.
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