5 April 2006 Development of a morphing structure with the incorporation of central pattern generators
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Abstract
The Manta Ray, Manta birostris, is an amazing creature, propelling itself through the water with the elegant and complex flapping of its wings. Achieving outstanding efficiencies, engineers are looking for ways to mimic its flight through the water and harness its propulsive techniques. This study combines two biologically inspired aspects to achieve this goal: morphing structures actuated with a biomimetic neural network control system. It is believed that this combination will prove capable of producing the oscillatory motions necessary for locomotion. In this paper, a four-truss structure with three actuators is chosen and its performance capabilities are analyzed. A synthetic central pattern generator, which provides the fundamental control mechanisms for rhythmic motion in animals, is designed to realize an oscillatory control of the three actuators. The control system is simulated using Matlab, then combined with LabVIEW to control the four-truss structure. The system's performance is analyzed, with specific attention to both transient and steady-state behavior.
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Thomas K. Bliss, Hilary Bart-Smith, Tetsuya Iwasaki, "Development of a morphing structure with the incorporation of central pattern generators", Proc. SPIE 6173, Smart Structures and Materials 2006: Smart Structures and Integrated Systems, 617312 (5 April 2006); doi: 10.1117/12.658697; https://doi.org/10.1117/12.658697
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