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Force Optimization of Elongated Undulating Fin Robot Using Improved PSO-Based CPG. COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE 2022; 2022:2763865. [PMID: 35310595 PMCID: PMC8926474 DOI: 10.1155/2022/2763865] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/15/2021] [Revised: 01/27/2022] [Accepted: 02/04/2022] [Indexed: 11/18/2022]
Abstract
Biorobotic fishes have a huge impact on the development of underwater devices due to both fast swimming speed and great maneuverability. In this paper, an enhanced CPG model is investigated for locomotion control of an elongated undulating fin robot inspired by black knife fish. The proposed CPG network includes sixteen coupled Hopf oscillators for gait generation to mimic fishlike swimming. Furthermore, an enhanced particle swarm optimization (PSO), called differential particle swarm optimization (D-PSO), is introduced to find a set of optimal parameters of the modified CPG network. The proposed D-PSO-based CPG network is not only able to increase the thrust force in order to make the faster swimming speed but also avoid the local maxima for the enhanced propulsive performance of the undulating fin robot. Additionally, a comparison of D-PSO with the traditional PSO and genetic algorithm (GA) has been performed in tuning the parametric values of the CPG model to prove the superiority of the introduced method. The D-PSO-based optimization technique has been tested on the actual undulating fin robot with sixteen fin-rays. The obtained results show that the average propulsive force of the untested material is risen 5.92%, as compared to the straight CPG model.
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Nguyen VD, Vo DQ, Duong VT, Nguyen HH, Nguyen TT. Reinforcement learning-based optimization of locomotion controller using multiple coupled CPG oscillators for elongated undulating fin propulsion. MATHEMATICAL BIOSCIENCES AND ENGINEERING : MBE 2022; 19:738-758. [PMID: 34903010 DOI: 10.3934/mbe.2022033] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
This article proposes a locomotion controller inspired by black Knifefish for undulating elongated fin robot. The proposed controller is built by a modified CPG network using sixteen coupled Hopf oscillators with the feedback of the angle of each fin-ray. The convergence rate of the modified CPG network is optimized by a reinforcement learning algorithm. By employing the proposed controller, the undulating elongated fin robot can realize swimming pattern transformations naturally. Additionally, the proposed controller enables the configuration of the swimming pattern parameters known as the amplitude envelope, the oscillatory frequency to perform various swimming patterns. The implementation processing of the reinforcement learning-based optimization is discussed. The simulation and experimental results show the capability and effectiveness of the proposed controller through the performance of several swimming patterns in the varying oscillatory frequency and the amplitude envelope of each fin-ray.
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Affiliation(s)
- Van Dong Nguyen
- Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh City, Vietnam
| | - Dinh Quoc Vo
- National Key Laboratory of Digital Control and System Engineering (DCSELab), HCMUT, 268 Ly Thuong Kiet, District 10, Ho Chi Minh City, Vietnam
| | - Van Tu Duong
- Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh City, Vietnam
- Vietnam National University Ho Chi Minh City, Linh Trung Ward, Thu Duc District, Ho Chi Minh City, Vietnam
- National Key Laboratory of Digital Control and System Engineering (DCSELab), HCMUT, 268 Ly Thuong Kiet, District 10, Ho Chi Minh City, Vietnam
| | - Huy Hung Nguyen
- National Key Laboratory of Digital Control and System Engineering (DCSELab), HCMUT, 268 Ly Thuong Kiet, District 10, Ho Chi Minh City, Vietnam
- Faculty of Electronics and Telecommunication, Saigon University, Vietnam
| | - Tan Tien Nguyen
- Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet, District 10, Ho Chi Minh City, Vietnam
- Vietnam National University Ho Chi Minh City, Linh Trung Ward, Thu Duc District, Ho Chi Minh City, Vietnam
- National Key Laboratory of Digital Control and System Engineering (DCSELab), HCMUT, 268 Ly Thuong Kiet, District 10, Ho Chi Minh City, Vietnam
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