A CPG-based sensory feedback control method for robotic fish locomotion

@article{Wang2011ACS,
  title={A CPG-based sensory feedback control method for robotic fish locomotion},
  author={Ming Wang and Junzhi Yu and Min Tan and Guiqing Zhang},
  journal={Proceedings of the 30th Chinese Control Conference},
  year={2011},
  pages={4115-4120}
}
This paper deals with a Center Pattern Generator (CPG) centered sensory feedback control method for robotic fish locomotion, which improves the maneuverability and adaptability of robotic fish in water. A two-phase CPG-based control architecture to implement the autonomous locomotion in robotic fish has been proposed. The whole process of the control architecture is divided into two phases: the upper decision-making and the automatic adjustment. According to the upper command from the… CONTINUE READING

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