Rhythm motion control in bio‐inspired fishtail based on central pattern generator

Rhythm motion control in bio‐inspired fishtail based on central pattern generator

Abstract The elastic oscillation structure based on central pattern generators (CPGs), which can produce rhythmic motions, is discussed. First, Hopf CPG, the typical CPG model, being a signal generator for the elastic oscillation structure, is analysed via the theory of differential equations. Next,...

Full description

Bibliographic Details
Main Authors: Song Chen, Yubiao Liu, Tehuan Chen, Junqiang Lou
Format: Article
Language:English
Published: Wiley 2021-03-01
Series:IET Cyber-systems and Robotics
Online Access:https://doi.org/10.1049/csy2.12007
id doaj-ffe7b9f756e64592a0e7e6f9fe20361e
record_format Article
spelling doaj-ffe7b9f756e64592a0e7e6f9fe20361e2021-04-20T13:45:14ZengWileyIET Cyber-systems and Robotics2631-63152021-03-0131536710.1049/csy2.12007Rhythm motion control in bio‐inspired fishtail based on central pattern generatorSong Chen0Yubiao Liu1Tehuan Chen2Junqiang Lou3School of Mathematical Sciences, Zhejiang University Hangzhou Zhejiang ChinaDepartment of Mathematics, School of Sciences Hangzhou Dianzi University Hangzhou Zhejiang ChinaSchool of Mechanical Engineering and Mechanics, Ningbo University Ningbo Zhejiang ChinaSchool of Mechanical Engineering and Mechanics, Ningbo University Ningbo Zhejiang ChinaAbstract The elastic oscillation structure based on central pattern generators (CPGs), which can produce rhythmic motions, is discussed. First, Hopf CPG, the typical CPG model, being a signal generator for the elastic oscillation structure, is analysed via the theory of differential equations. Next, the well‐posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi‐group theory. Then, the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG network. Finally, the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics.https://doi.org/10.1049/csy2.12007
collection DOAJ
language English
format Article
sources DOAJ
author Song Chen
Yubiao Liu
Tehuan Chen
Junqiang Lou
spellingShingle Song Chen
Yubiao Liu
Tehuan Chen
Junqiang Lou
Rhythm motion control in bio‐inspired fishtail based on central pattern generator
IET Cyber-systems and Robotics
author_facet Song Chen
Yubiao Liu
Tehuan Chen
Junqiang Lou
author_sort Song Chen
title Rhythm motion control in bio‐inspired fishtail based on central pattern generator
title_short Rhythm motion control in bio‐inspired fishtail based on central pattern generator
title_full Rhythm motion control in bio‐inspired fishtail based on central pattern generator
title_fullStr Rhythm motion control in bio‐inspired fishtail based on central pattern generator
title_full_unstemmed Rhythm motion control in bio‐inspired fishtail based on central pattern generator
title_sort rhythm motion control in bio‐inspired fishtail based on central pattern generator
publisher Wiley
series IET Cyber-systems and Robotics
issn 2631-6315
publishDate 2021-03-01
description Abstract The elastic oscillation structure based on central pattern generators (CPGs), which can produce rhythmic motions, is discussed. First, Hopf CPG, the typical CPG model, being a signal generator for the elastic oscillation structure, is analysed via the theory of differential equations. Next, the well‐posedness results of a coupling system composed by the CPG and an elastic beam are proved by means of the linear operator semi‐group theory. Then, the numerical results using the finite difference method indicate that the coupled system can obtain a variety of periodic motion behaviours by choosing the internal parameters of the CPG network. Finally, the dynamic simulation of complex system motion is investigated using COMSOL Multiphysics.
url https://doi.org/10.1049/csy2.12007
work_keys_str_mv AT songchen rhythmmotioncontrolinbioinspiredfishtailbasedoncentralpatterngenerator
AT yubiaoliu rhythmmotioncontrolinbioinspiredfishtailbasedoncentralpatterngenerator
AT tehuanchen rhythmmotioncontrolinbioinspiredfishtailbasedoncentralpatterngenerator
AT junqianglou rhythmmotioncontrolinbioinspiredfishtailbasedoncentralpatterngenerator
_version_ 1721517790969462784

Similar Items