仿生机器鱼运动控制方法综述

摘要

Motion control is the key issue in the biomimetic robotic fish research .This paper presents a comprehen-sive review of motion control of the biomimetic robotic fish under different scenarios .Proposals for motion control of the biomimetic robotic fish reviewed include the method of curve fitting of the fish body wave based on the structure of the bar system , the method of sinusoidal controller and the method based on the central pattern generator (CPG).The principles of each of these methods as well as the corresponding characteristics are discussed , and then the advantages and disadvantages of the three methods are analyzed in respect to their reliability , stability and real-time performance .The developing trends of motion control of the biomimetic robotic fish are also pointed out .%运动控制是仿生机器鱼研究的核心问题，为此，依据解决运动控制问题的不同思路，总结了仿生机器鱼运动控制常见的几种研究方法：基于杆系结构的鱼体波曲线拟合法、正弦控制器方法和基于中枢模式发生器模型的方法，分别对3种运动控制方法的基本原理和特点进行了总结和归纳，分析了3种方法在可靠性、稳定性和实时性等方面的优缺点，最后指出了仿生机器鱼运动控制方法的发展趋势。