Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

Abstract

This paper presents mechatronic design and hierarchical locomotion control of a biomimetic robotic
\nfish for three-dimensional swimming modes. Inspired by biological features of Lamprey, a closed
\nloop sensory feedback Central Pattern Generator (CPG) model is adapted to hierarchical control
\nmechanism in order to provide robust and effective biomimetic control structure. A sensory feedback
\nmechanism plays an important role to react external stimuli from environment. In addition, a
\nclosed loop fuzzy logic control structure is developed as a brain model to decide adaptive swimming
\nmodes according to sensory information. In order to provide three-dimensional motion abilities, the
\nCentre of Gravity (CoG) control mechanism is designed and controlled by a back-forth proportional
\ncontrol structure. Experimental results are obtained to prove the CPG-based closed loop sensory
\nfeedback control structure with the developed robotic fish prototype.