Abstract
CPG control method is a modern control way in robotic control area. The problem is how to design a CPG model which can control the robot well. Neural oscillator is an important part in CPG model, in this paper, a new kind neural oscillator has been designed for CPG model. With this new neural oscillator, detailed analysis work has been done. The most achievement thing is the meanings of the parameters in CPG model are clear. With these parameters, the amplitude and the period of the CPG model’s output can be set to fit the robotic control. In this paper, we make a three-joint robotic fish as prototype, the simulation results show the new neural oscillator in CPG model can well used in robotic fish control.
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Gang, W., Daibing, Z., Lincheng, S. (2011). Research on New Neural Oscillator in CPG Model Used in Robotic Fish. In: Tan, H. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 132. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25899-2_46
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DOI: https://doi.org/10.1007/978-3-642-25899-2_46
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