Sida Pan

Fault-tolerant control of bionic robotic fish based on a hybrid Bayesian-Northern Goshawk Optimization framework

When bionic robotic fish operate in complex environments, central pattern generator units are prone to lock-up faults, which can severely degrade locomotion controllability. To address these issues, this study proposes a bio-inspired fault-tolerant proportional–integral–derivativ...

A hierarchical neurobiologically inspired control framework for stable and energy efficient locomotion of bionic robotic fish

Balancing behavioral adaptability and actuation stability is crucial for biomimetic autonomous underwater vehicles (AUVs), inspired by fish sensory-motor systems. While biologically inspired computing methods have advanced rhythmic motion generation, it remains challenging to mai...

A computational framework for Kármán gaiting in robotic fish: spatio-temporal perception and CPG-based reinforcement learning

Navigating in unsteady wake flows, such as Kármán vortex streets, presents a formidable challenge for biomimetic autonomous underwater vehicles. Biological fish achieve this by utilizing their lateral line sensory systems to perceive local flow gradients and adopting an energy-ef...