부산대학교 도서관

Soft bio-inspired robotic fish have gained significant attention in recent years due to their flexible swimming, good imitation, and high propulsive efficiency. However, the simulation and control of soft underwater robots pose significant challenges. In this paper, we propose a swimming optimization method for soft bio-inspired robotic fish based on central pattern generator (CPG). To enhance the swimming performance, we construct a hydrodynamic model of the robotic fish using Lagrange equation and Fluent simulation. Additionally, the joint oscillation signal generated by the CPG network is optimized using a particle swarm optimization (PSO) algorithm. Finally, a simulation experiment is conducted to validate the effectiveness of the proposed method.