Journal of Bionic Engineering

, Volume 15, Issue 2, pp 260–269 | Cite as

Energy Analysis of a CPG-controlled Miniature Robotic Fish

  • Junzhi Yu
  • Shifeng Chen
  • Zhengxing Wu
  • Xingyu Chen
  • Ming Wang


Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator (CPG) based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.


bionic robotic fish energy analysis Central Pattern Generator (CPG) swimming motion control 


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This work was supported by the National Natural Science Foundation of China (Nos. 61725305, 61573226, 61763042, 61663040) and the Beijing Natural Science Foundation (Nos. 4161002, 4164103).


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Copyright information

© Jilin University 2018

Authors and Affiliations

  • Junzhi Yu
    • 1
  • Shifeng Chen
    • 1
    • 2
  • Zhengxing Wu
    • 1
  • Xingyu Chen
    • 1
    • 2
  • Ming Wang
    • 3
  1. 1.State Key Laboratory of Management and Control for Complex Systems, Institute of AutomationChinese Academy of SciencesBeijingChina
  2. 2.University of Chinese Academy of SciencesBeijingChina
  3. 3.School of Information and Electrical EngineeringShandong Jianzhu UniversityJinanChina

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