CPG Based Motion Control for an Underwater Thruster

A CPG based motion control approach is proposed for a biologically inspired underwater thruster with undulating long-fin. The characteristic of rhythmic motion patterns generated by CPG suits well to control the thruster, which has multiple fin rays coupled by membrane. Based on modified Matsuoka model, an artificial CPG controller consisting of ten neural oscillators with sensory information feedback is built. A novel method for phase control of the output signals is brought forward to make it possible to control and regulate the output of the coupled oscillators on-line. The experiment shows the CPG controller is valid to generate thrust by controlling the long fin.