Abstract
Generally, there are mainly two categories control method for robotic fish , including sine-based trajectory tracking and online gait generation (Low et al. in Adv. Robot. 23:805–829 (2012), [1]; Yu et al. in IEEE/ASME Trans. Mechatronics 17:847–856 (2012), 2]. The former, represented by fish body wave method, is usually employed through offline planning and online tracking control. In comparison, the latter method generates real-time swimming gaits online. Inspired by the salamander, whose swimming locomotion is governed by CPG , more CPG -based controllers are constructed to generate the desired swimming gaits online. In biology, CPGs are neural circuits located in the spinal cord which are responsible for generation of cyclic muscle activation patterns such as respiration, swimming, and crawling [3].
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Yu, J., Tan, M. (2020). CPG-Based Swimming Control. In: Motion Control of Biomimetic Swimming Robots. Research on Intelligent Manufacturing. Springer, Singapore. https://doi.org/10.1007/978-981-13-8771-5_4
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