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Title: Generation of robotic fish locomotion through biomimetic learning
Authors: Ren, Q.
Xu, J. 
Gao, W.
Niu, X.
Issue Date: 2012
Source: Ren, Q.,Xu, J.,Gao, W.,Niu, X. (2012). Generation of robotic fish locomotion through biomimetic learning. IEEE International Conference on Intelligent Robots and Systems : 815-821. ScholarBank@NUS Repository.
Abstract: This paper presents a novel biomimetic learning approach for a Carangiform robotic fish to learn swimming locomotion. A video recording system is first set up to capture real fish behaviors that are used as the training samples. Three basic Carangiform swimming motion patterns, 'cruise', 'cruise in turning' and 'C sharp turn', are extracted from robotic perspective. A general internal model (GIM) is adopted as a universal central pattern generator (CPG). Based on the universal function approximation ability and the temporal/spatial scalabilities of GIM, biomimetic learning is performed such that the robotic fish is able to learn to generate the same or similar fish swimming motion patterns. The three swimming motion patterns are implemented on a multi-joint robotic fish. The effectiveness of the biomimetic learning approach is verified through experiment results. © 2012 IEEE.
Source Title: IEEE International Conference on Intelligent Robots and Systems
ISBN: 9781467317375
ISSN: 21530858
DOI: 10.1109/IROS.2012.6385543
Appears in Collections:Staff Publications

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