Parameter Optimization of CPG Network Based on PSO for Manta Ray Robot

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Parameter Optimization of CPG Network Based on PSO for Manta Ray Robot

Cao, Yonghui / Ma, Shumin / Xie, Yu / Hao, Yiwei / Zhang, Daili / He, Yue / Cao, Yong

The kinematic analysis of the real manta ray’s swimming posture is carried out in this paper to address the problem of flapping posture in the forward swimming motion state of the imitation manta ray robot. According to the swimming attitude of manta rays, the traditional central pattern generator (CPG) phase oscillator model is improved. Taking similarity as the optimization objective, particle swarm optimization (PSO) algorithm is used to optimize the parameters of CPG network, which makes the forward attitude of manta ray robot more consistent with the real manta rays, in order to achieve better bionic effect. Finally, the effectiveness of the optimization scheme based on particle swarm optimization algorithm is verified by experiments.

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Document information

Title :

Parameter Optimization of CPG Network Based on PSO for Manta Ray Robot

Additional title:

Lect. Notes Electrical Eng.

Contributors:

Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Cao, Yonghui (author) / Ma, Shumin (author) / Xie, Yu (author) / Hao, Yiwei (author) / Zhang, Daili (author) / He, Yue (author)

Conference:

International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021

Published in:

Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 300 ; 3062-3072

Lecture Notes in Electrical Engineering ; 861

Publication date :

2022-03-18

Size :

11 pages

ISBN :

978-981-16-9492-9 , 978-981-16-9491-2

ISSN :