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Fish robot with a control architecture based on a central pattern generator (CPG) implemented as a system of coupled nonlinear oscillators of Kuramoto type is reported. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity. To test our controller, we designed a simple fish robot with two servo motor capable of carangiform type of swimming locomotion in water. Two couple oscillators with projection of phase using a sine function serves as the CPG controller. Results are presented demonstrating the basic locomotion pattern such as swimming forward, right turning, and left turning movement of the robot. The fish robot can also serve as a general research and educational platform for artificial intelligence and biomimetics.

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Fish Robot Locomotion Control Using Central Pattern Generator Based on Kuramoto Oscillator Model

  • 会议论文

  • 发表日期：

    2025年

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  • Ya-Tang Yang,
  • Jyun-Wei Shih,
  • Feng-Yu Wang,
  • Jhih-Ci Li

摘要

Fish robot with a control architecture based on a central pattern generator (CPG) implemented as a system of coupled nonlinear oscillators of Kuramoto type is reported. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity. To test our controller, we designed a simple fish robot with two servo motor capable of carangiform type of swimming locomotion in water. Two couple oscillators with projection of phase using a sine function serves as the CPG controller. Results are presented demonstrating the basic locomotion pattern such as swimming forward, right turning, and left turning movement of the robot. The fish robot can also serve as a general research and educational platform for artificial intelligence and biomimetics.