Rhythm motion control in bio‐inspired fishtail based on central pattern generator
Abstract The elastic oscillation structure based on central pattern generators (CPGs), which can produce rhythmic motions, is discussed. First, Hopf CPG, the typical CPG model, being a signal generator for the elastic oscillation structure, is analysed via the theory of differential equations. Next,...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-03-01
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| Series: | IET Cyber-systems and Robotics |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/csy2.12007 |
| _version_ | 1811223286065922048 |
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| author | Song Chen Yubiao Liu Tehuan Chen Junqiang Lou |
| author_facet | Song Chen Yubiao Liu Tehuan Chen Junqiang Lou |
| author_sort | Song Chen |
| collection | DOAJ |
| description | Abstract The elastic oscillation structure based on central pattern generators (CPGs), which can produce rhythmic motions, is discussed. First, Hopf CPG, the typical CPG model, being a signal generator for the elastic oscillation structure, is analysed via the theory of differential equations. Next, the well‐posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi‐group theory. Then, the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG network. Finally, the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics. |
| first_indexed | 2024-04-12T08:30:21Z |
| format | Article |
| id | doaj.art-ffe7b9f756e64592a0e7e6f9fe20361e |
| institution | Directory Open Access Journal |
| issn | 2631-6315 |
| language | English |
| last_indexed | 2024-04-12T08:30:21Z |
| publishDate | 2021-03-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Cyber-systems and Robotics |
| spelling | doaj.art-ffe7b9f756e64592a0e7e6f9fe20361e2022-12-22T03:40:15ZengWileyIET Cyber-systems and Robotics2631-63152021-03-0131536710.1049/csy2.12007Rhythm motion control in bio‐inspired fishtail based on central pattern generatorSong Chen0Yubiao Liu1Tehuan Chen2Junqiang Lou3School of Mathematical Sciences, Zhejiang University Hangzhou Zhejiang ChinaDepartment of Mathematics, School of Sciences Hangzhou Dianzi University Hangzhou Zhejiang ChinaSchool of Mechanical Engineering and Mechanics, Ningbo University Ningbo Zhejiang ChinaSchool of Mechanical Engineering and Mechanics, Ningbo University Ningbo Zhejiang ChinaAbstract The elastic oscillation structure based on central pattern generators (CPGs), which can produce rhythmic motions, is discussed. First, Hopf CPG, the typical CPG model, being a signal generator for the elastic oscillation structure, is analysed via the theory of differential equations. Next, the well‐posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi‐group theory. Then, the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG network. Finally, the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics.https://doi.org/10.1049/csy2.12007differential equationselasticityfinite difference methodsgroup theorylegged locomotionmotion control |
| spellingShingle | Song Chen Yubiao Liu Tehuan Chen Junqiang Lou Rhythm motion control in bio‐inspired fishtail based on central pattern generator IET Cyber-systems and Robotics differential equations elasticity finite difference methods group theory legged locomotion motion control |
| title | Rhythm motion control in bio‐inspired fishtail based on central pattern generator |
| title_full | Rhythm motion control in bio‐inspired fishtail based on central pattern generator |
| title_fullStr | Rhythm motion control in bio‐inspired fishtail based on central pattern generator |
| title_full_unstemmed | Rhythm motion control in bio‐inspired fishtail based on central pattern generator |
| title_short | Rhythm motion control in bio‐inspired fishtail based on central pattern generator |
| title_sort | rhythm motion control in bio inspired fishtail based on central pattern generator |
| topic | differential equations elasticity finite difference methods group theory legged locomotion motion control |
| url | https://doi.org/10.1049/csy2.12007 |
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