Review of gait control and closed-loop motion control methods for bionic robotic fish
The advantages of fish such as high propulsion efficiency, strong maneuverability and low environmental disturbance have sparked extensive research on bionic robotic fish by both domestic and international scholars. The basic-level gait control method and closed-loop motion control method are curren...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Editorial Office of Chinese Journal of Ship Research
2024-02-01
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| Series: | Zhongguo Jianchuan Yanjiu |
| Subjects: | |
| Online Access: | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03233 |
| _version_ | 1797257504551337984 |
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| author | Wenqian WANG Penglei MA Guanghao LI Chuanxin XU Bing YAO Guijie LIU |
| author_facet | Wenqian WANG Penglei MA Guanghao LI Chuanxin XU Bing YAO Guijie LIU |
| author_sort | Wenqian WANG |
| collection | DOAJ |
| description | The advantages of fish such as high propulsion efficiency, strong maneuverability and low environmental disturbance have sparked extensive research on bionic robotic fish by both domestic and international scholars. The basic-level gait control method and closed-loop motion control method are currently two hot topics in research on robotic fish control. According to the propulsion mode classification method, this paper summarizes the prototype development and performance of various robotic fish, introduces the research progress of the propulsion mechanisms and hydrodynamics of robotic fish, focuses on two basic gait control ideas, namely the trajectory approximation method and central pattern generator （CPG）, and summarizes the typical closed-loop motion control method. The CPG method has stronger flexibility, stability and operability, and it is easy to introduce feedback items and achieve closed-loop control, for which it plays a leading role in the basic gait control of robotic fish; while the improved learning-based control method and hybrid control method combining multiple methods based on the significant characteristics of robotic fish have broader development prospects, which is in line with the development direction of intelligent biomimetic robotic fish. Establishing a reasonable gait control system and an accurate and efficient closed-loop motion control system based on working conditions and motion requirements is the key to improving the overall performance of robotic fish. |
| first_indexed | 2024-04-24T22:38:42Z |
| format | Article |
| id | doaj.art-14e9cc1f5b534eada3f7539355a6c85c |
| institution | Directory Open Access Journal |
| issn | 1673-3185 |
| language | English |
| last_indexed | 2024-04-24T22:38:42Z |
| publishDate | 2024-02-01 |
| publisher | Editorial Office of Chinese Journal of Ship Research |
| record_format | Article |
| series | Zhongguo Jianchuan Yanjiu |
| spelling | doaj.art-14e9cc1f5b534eada3f7539355a6c85c2024-03-19T06:34:50ZengEditorial Office of Chinese Journal of Ship ResearchZhongguo Jianchuan Yanjiu1673-31852024-02-01191294510.19693/j.issn.1673-3185.03233ZG3233Review of gait control and closed-loop motion control methods for bionic robotic fishWenqian WANG0Penglei MA1Guanghao LI2Chuanxin XU3Bing YAO4Guijie LIU5College of Engineering, Ocean University of China, Qingdao 266404, ChinaCollege of Engineering, Ocean University of China, Qingdao 266404, ChinaCollege of Engineering, Ocean University of China, Qingdao 266404, ChinaCollege of Engineering, Ocean University of China, Qingdao 266404, ChinaCollege of Engineering, Ocean University of China, Qingdao 266404, ChinaCollege of Engineering, Ocean University of China, Qingdao 266404, ChinaThe advantages of fish such as high propulsion efficiency, strong maneuverability and low environmental disturbance have sparked extensive research on bionic robotic fish by both domestic and international scholars. The basic-level gait control method and closed-loop motion control method are currently two hot topics in research on robotic fish control. According to the propulsion mode classification method, this paper summarizes the prototype development and performance of various robotic fish, introduces the research progress of the propulsion mechanisms and hydrodynamics of robotic fish, focuses on two basic gait control ideas, namely the trajectory approximation method and central pattern generator （CPG）, and summarizes the typical closed-loop motion control method. The CPG method has stronger flexibility, stability and operability, and it is easy to introduce feedback items and achieve closed-loop control, for which it plays a leading role in the basic gait control of robotic fish; while the improved learning-based control method and hybrid control method combining multiple methods based on the significant characteristics of robotic fish have broader development prospects, which is in line with the development direction of intelligent biomimetic robotic fish. Establishing a reasonable gait control system and an accurate and efficient closed-loop motion control system based on working conditions and motion requirements is the key to improving the overall performance of robotic fish.http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03233bionic robotic fishdynamic modelinggait controlclosed-loop motion control |
| spellingShingle | Wenqian WANG Penglei MA Guanghao LI Chuanxin XU Bing YAO Guijie LIU Review of gait control and closed-loop motion control methods for bionic robotic fish Zhongguo Jianchuan Yanjiu bionic robotic fish dynamic modeling gait control closed-loop motion control |
| title | Review of gait control and closed-loop motion control methods for bionic robotic fish |
| title_full | Review of gait control and closed-loop motion control methods for bionic robotic fish |
| title_fullStr | Review of gait control and closed-loop motion control methods for bionic robotic fish |
| title_full_unstemmed | Review of gait control and closed-loop motion control methods for bionic robotic fish |
| title_short | Review of gait control and closed-loop motion control methods for bionic robotic fish |
| title_sort | review of gait control and closed loop motion control methods for bionic robotic fish |
| topic | bionic robotic fish dynamic modeling gait control closed-loop motion control |
| url | http://www.ship-research.com/en/article/doi/10.19693/j.issn.1673-3185.03233 |
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