A Novel CPG controller of robotic fish: based on body wave function

Yahui Hou, Gang Du, Xi Li

COMPUTER MODELLING & NEW TECHNOLOGIES 2015 19(D4) 16-19

Dept. of Information Engineering, China University of Geosciences Beijing, Beijing, China

The biomimetic robotic fish shows great potential of surveying of resource, military reconnaissance, the monitoring of water environment and so on, so the biomimetic robotic fish is a hot issue with great challenges. Although the current CPG controller of generating sine signals can also control the movement of robotic fish, but this kind of controller needs many parameters.According to the fish body wave function proposed by Lighthill we design a new CPG controller. This controller can efficiently reduce the parameters of controlling robotic fish movement and realize the simulation of the fish body wave curve. In order to test the feasibility and effectiveness of the CPG controller. We realized the virtual reality simulation and test it in a three joints of robotic fish.