This paper aims to imitate a cownose ray to develop a fish robot with paired flexible multi-fin-ray oscillating pectoral fins (OPFs) and control it to accomplish vivid stable 3-D motions using central pattern generators (CPGs) and fuzzy algorithm.
The cownose ray’s asymmetric sine-like oscillations were analyzed. Then a cownose-ray-like fish robot named Robo-ray was developed, which has paired flexible multi-fin-ray OPFs to actively control the fin shape and two tail fins to control the depth. To solve the problem of coordinated control for multi-degree-of-freedom Robo-ray, CPGs were adopted. An improved phase oscillator as a CPG unit with controlled amplitude, phase lag, smooth frequency transition and asymmetric oscillation characteristic was established. Furthermore, the CPG-fuzzy algorithm was developed for vivid stable 3-D motions. The open-loop speed control, the closed-loop control of depth and yaw were established.
The kinematic comparisons indicate that Robo-ray imitates the cownose ray realistically. The experimental results of closed-loop are obtained that the depth error of Robo-ray is less than ±100 mm and the course error is less than ±3°. Furthermore, the comprehensive experiments demonstrate that Robo-ray has high mobility, stability and robustness.
This research makes the fish robot with OPF propulsion closer to practical applications in complex underwater environment, for instance, ocean explorations, water quality monitoring and stealth military reconnaissance. In addition, Robo-ray can be taken as a scientific tool for better understanding of the hydrodynamics of OPF batoid.
