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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