Xinyang Liu

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 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...