智能系统学报Issue(3)：276-284,9.DOI:10.3969/j.issn.1673-4785.201309004
仿生机器鱼运动控制方法综述
A survey on motion control of the biomimetic robotic fish
摘要
Abstract
Motion control is the key issue in the biomimetic robotic fish research .This paper presents a comprehen-sive review of motion control of the biomimetic robotic fish under different scenarios .Proposals for motion control of the biomimetic robotic fish reviewed include the method of curve fitting of the fish body wave based on the structure of the bar system , the method of sinusoidal controller and the method based on the central pattern generator (CPG).The principles of each of these methods as well as the corresponding characteristics are discussed , and then the advantages and disadvantages of the three methods are analyzed in respect to their reliability , stability and real-time performance .The developing trends of motion control of the biomimetic robotic fish are also pointed out .关键词
仿生机器鱼/运动控制/正弦控制器/鱼体波曲线拟合/中枢模式发生器Key words
biomimetic robotic fish/motion control/sinusoidal controller/fish body wave curve fitting/central pat-tern generator分类
信息技术与安全科学引用本文复制引用
王耀威,纪志坚,翟海川..仿生机器鱼运动控制方法综述[J].智能系统学报,2014,(3):276-284,9.基金项目
国家自然科学基金资助项目（61374062，61075114）． （）
