仿生机器鱼步态控制及闭环运动控制方法综述

Review of gait control and closed-loop motion control methods for bionic robotic fish

鱼类所具有的推进效率高、机动性强、环境扰动小等优点引发了国内外学者对仿生机器鱼的研究。底层步态控制方法和闭环运动控制方法是当前机器鱼控制研究的两大热点。按照推进模式的分类方法概述各类机器鱼的样机研制情况以及其性能优劣,介绍机器鱼的推进机理及其水动力学研究进展,进而重点探讨轨迹逼近方法和中枢模式发生器这2种底层步态控制思路,综述机器鱼的典型闭环运动控制方法。中枢模式发生器具有更强的灵活性、稳定性和可操作性,易于引入反馈项而实现闭环控制,在机器鱼底层步态控制中占主导地位。针对机器鱼的显著特点改进后的基于学习的控制方法与多种方法相结合后的混合控制方法具有更为广阔的发展前景,符合仿生机器鱼智能化的发展方向。根据工作条件和运动要求建立合理的步态控制系统以及准确高效的闭环运动控制系统可提高机器鱼的整体性能。

The advantages of fish such as high propulsion efficiency,strong maneuverability and low environmental disturbance have sparked extensive research on bionic robotic fish by both domestic and international scholars.The basic-level gait control method and closed-loop motion control method are currently two hot topics in research on robotic fish control.According to the propulsion mode classification method,this paper summarizes the prototype development and performance of various robotic fish,introduces the research progress of the propulsion mechanisms and hydrodynamics of robotic fish,focuses on two basic gait control ideas,namely the trajectory approximation method and central pattern generator(CPG),and summarizes the typical closed-loop motion control method.The CPG method has stronger flexibility,stability and operability,and it is easy to introduce feedback items and achieve closed-loop control,for which it plays a leading role in the basic gait control of robotic fish;while the improved learning-based control method and hybrid control method combining multiple methods based on the significant characteristics of robotic fish have broader development prospects,which is in line with the development direction of intelligent biomimetic robotic fish.Establishing a reasonable gait control system and an accurate and efficient closed-loop motion control system based on working conditions and motion requirements is the key to improving the overall performance of robotic fish.