Motion control method and system for biomimetic robotic fish based on adversarial structured control
US10962976B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 11, 2020 |
| Grant date | Mar 30, 2021 |
| Priority date | — |
| Expiry date | Nov 11, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N3/045
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A motion control method and system for a biomimetic robotic fish based on an adversarial structured control, includes: taking the accuracy and speed of motion to the target point as a reward term, and taking a power sum of servomotors as a loss term to construct an optimization objective function; optimizing parameters of a central pattern generator model that generates a global control quantity of a servomotor, after curing its parameters, optimizing the parameters of the servomotor compensation control model; iteratively optimizing the parameters of the model; obtaining the global control signal and compensation control signal of the biomimetic robotic fish through the trained model, and using the linear combination of the two sets of output signals as the control signal of the servomotor of the robotic fish to realize the motion control of the fish.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.