Similarity Evaluation Rule and Motion Posture Optimization for a Manta Ray Robot

The current development of manta ray robots is usually based on functional bionics, and there is a lack of bionic research to enhance the similarity of motion posture. To better exploit the characteristics of bionic, a similarity evaluation rule is constructed herein by a Dynamic Time Warping (DTW)...

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Bibliographic Details
Published in:Journal of marine science and engineering 2022-07, Vol.10 (7), p.908
Main Authors: Cao, Yonghui, Ma, Shumin, Cao, Yingzhuo, Pan, Guang, Huang, Qiaogao, Cao, Yong
Format: Article
Language:English
Subjects:
Algorithms
Asymmetry
Bias
Bionics
Central pattern generator
CPG
Design
GAPSO
Genetic algorithms
Kinematics
manta ray robot
Marine fishes
Motion control
Movement
Optimization
Parameter uncertainty
Parameters
Particle swarm optimization
Posture
Robot control
Robot dynamics
Robotics
Robots
Similarity
similarity evaluation rule
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Summary:The current development of manta ray robots is usually based on functional bionics, and there is a lack of bionic research to enhance the similarity of motion posture. To better exploit the characteristics of bionic, a similarity evaluation rule is constructed herein by a Dynamic Time Warping (DTW) algorithm to guide the optimization of the control parameters of a manta ray robot. The Central Pattern Generator (CPG) network with time and space asymmetry oscillation characteristics is improved to generate coordinated motion control signals for the robot. To optimize similarity, the CPG network is optimized with the genetic algorithm and particle swarm optimization (GAPSO) to solve the problems of multiple parameters, high non-linearity, and uncertain parameter coupling in the CPG network. The experimental results indicate that the similarity between the forward motion pose of the optimized manta ray robot and the manta ray is improved to 88.53%.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse10070908