Multimodal swimming control of bionic fish based on CPG

First of all, according to the swimming mode and functional requirements of the bionic fish, this paper designs a multi joint bionic fish with chest tail coordinated propulsion, and designs the bionic fish body with the idea of modularization. Secondly, the biological control mechanism of animal CPG (central mode generator) is introduced. A Hopf oscillator with independently adjustable parameters is selected. The relationship between the convergence rate, amplitude, frequency and parameters of the Hopf oscillator is studied in depth, and a CPG model suitable for bionic fish is established. Finally, the CPG model is used for simulation and experimental verification, and the swimming control of various modes of the bionic fish, such as forward, steering and multimodal switching, is successfully realized.