Energy Analysis of a CPG-controlled Miniature Robotic Fish
- 105 Downloads
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.
Keywordsbionic robotic fish energy analysis Central Pattern Generator (CPG) swimming motion control
Unable to display preview. Download preview PDF.
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).
- F. Shen, C. Wei, Z. Cao, C. Zhou, D. Xu, W. Zhang. Water quality monitoring system based on robotic dolphin. Proceedings of World Congress on Intelligent Control and Automation, Taipei, China, 2011, 243–247.Google Scholar
- Yu J, Wang K, Tan M, Zhang J. Design and control of an embedded vision guided robotic fish with multiple control surfaces. The Scientific World Journal, 2014, 2014, 631296.Google Scholar
- Wang W, Gu D, Xie G. Autonomous optimization of swimming gait in a fish robot with multiple onboard sensors. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2017, 1–13 (Article in press, https://doi.org/10.1109/TSMC.2017.2683524).Google Scholar
- Othman A, Belda K, Burget P. Physical modelling of energy consumption of industrial articulated robots. Proceedings of 15th International Conference on Control, Automation and Systems, Busan, Korea, 2015, 784–789.Google Scholar