Generation of Movement for Multi-link Propulsion Mechanism in Fluid

摘要

We have made a multilink propulsion mechanism in high viscous fluidrnmodeled on anguilliform swimming, and aimed to develop thernmovement generator to fit the changing locomotion task andrnsurrounding environment. As the first stage for the development of thernmovement generator, we conducted the generation of the movement tornprovide greater and stable thrust force of the propulsion mechanism. Arnsimple model of central pattern generators (CPGs) of neurons in thernorganisms was applied for the generation of the movement. To acquirernthe movement for greater and stable thrust force, computation of thernoptimization applying the genetic algorithm (GA) was carried out. Torncompensate the error of the calculation of thrust force, the optimizedrnmovement by the computation was set as the initial data for thernoptimization by use of actual propulsion mechanism applying the hillclimbingrnmethod.