Locomotion control of a biomimetic robotic fish based on closed loop sensory feedback CPG model

This paper presents mechatronic design and hierarchical locomotion control of a biomimetic robotic for three-dimensional swimming modes. Inspired by biological features of Lamprey, a closed sensory feedback Central Pattern Generator (CPG) model is adapted to hierarchical control in order to provide robust and effective biomimetic control structure. A sensory feedback plays an important role to react external stimuli from environment. In addition, a loop fuzzy logic control structure is developed as a brain model to decide adaptive swimming according to sensory information. In order to provide three-dimensional motion abilities, the of Gravity (CoG) control mechanism is designed and controlled by a back-forth proportional structure. Experimental results are obtained to prove the CPG-based closed loop sensory control structure with the developed robotic fish prototype.