[2018-Vol.15-Issue 2]Energy Analysis of a CPG-controlled Miniature Robotic Fish
Time: 2018-03-28 09:29  Click:485
Journal of Bionic Engineering
Volume 15, Issue 2, March 2018, Pages 260-269.
Junzhi Yu1*, Shifeng Chen1,2, Zhengxing Wu1, Xingyu Chen1,2, Ming Wang3
1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2. University of Chinese Academy of Sciences, Beijing 100049, China
3. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China
Abstract  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.
Key words: bionic robotic fish      energy analysis      Central Pattern Generator (CPG)      swimming, motion control  


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