関節角度フィードバックを用いた魚モデルの遊泳運動生成

抄録

This study aims to autonomously generate swimming locomotion of fish based on biological concepts. The fish model is equipped with a mathematical central pattern generator (CPG) that constructed by coupling neural oscillators and set to output in-phase rhythms. The control system based on biological concepts contains sensory feedback to the CPG, measuring joint angles of each joint. The system spontaneously gives rise to an unprogrammed traveling wave swimming. The determinant of the autonomously generated swimming mode is the magnitude relation of the drive angle between the joints. It was found from the simulation results that when the driving amplitude of the first joint is larger than the driving amplitude of the second joint, the swimming mode is traveling wave swimming, and in the opposite case, the CPGs generate antiphase rhythms.