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Updated: Jul 18, 2025

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基于中央模式生成器 (CPG) 的运动控制和水力动力学实验,用于像盒鱼类的机器人胸和尾之间的协同相互作用

Lin Chen1, Yueri Cai1, Shusheng Bi1

  • 1Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.

Biomimetics (Basel, Switzerland)
|August 25, 2023
PubMed
概括

这项研究优化了机器人鱼的游泳,通过使用中央模式生成器 (CPG) 控制胸和尾. 水力动力学实验揭示了CPG参数显著影响推进,其中1Hz频率产生最佳性能.

关键词:
在CPG中,使用的是CPG.水力动力学分析运动控制器运动控制器多鱼的协同作用机器人鱼是一种机器人鱼.

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In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
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