水下仿生机器人CPG控制方法研究现状综述

摘要

High-performance motion control was the key issue to improve the maneuverability and stability in the biomimetic underwater robot.A comprehensive review of basic principles and research of central pattern generator(CPG) were presented,while the key technology and development trend of CPG were summarized.%高性能的运动控制方法是提高水下仿生机器人运动机动性和稳定性的关键,是制约水下仿生机器人发展的关键问题.介绍了中枢模式发生器(central pattern generator,CPG)仿生控制方法的基本原理,综述了水下仿生机器人CPG控制方法的研究现状,总结了CPG控制方法的关键技术和发展趋势.