NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot

Shumin Ma; Yu Xie; Yingzhuo Cao; Yue He; Yonghui Cao; Yong Cao; Qiaogao Huang

doi:10.1007/978-981-99-0617-8_34

NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot

Shumin Ma, Yu Xie, Yingzhuo Cao, Yue He, Yonghui Cao, Yong Cao, Qiaogao Huang

School of Marine Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

The manta ray robot switches the state of its pectoral fins to achieve different swimming states. In this paper, we propose a control method for pectoral fin flutter based on the central pattern generator (CPG). The pectoral fin state is determined by the amplitude, frequency, and phase difference of the CPG output signal. Momentary manipulation of the phase signal output from the CPG can produce a spike or interruption, which leads to unstable pectoral fin flutter of the manta ray robot. Too slow a phase transition can make the response slower and reduce the maneuverability of the robot. An optimization method for the phase transition of the manta ray robot’s pectoral fin state is investigated. With the output signal smoothness and rapidity as the optimization objectives, the Nondominated Sorting Genetic Algorithm-II (NSAG-II) is used to optimize the CPG parameters and obtain the optimal parameter combination. It is verified by simulation and experiment that the optimized CPG controller output signal can transition smoothly and quickly during phase switching.

Original language	English
Title of host publication	Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers
Editors	Fuchun Sun, Angelo Cangelosi, Jianwei Zhang, Yuanlong Yu, Huaping Liu, Bin Fang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	489-499
Number of pages	11
ISBN (Print)	9789819906161
DOIs	https://doi.org/10.1007/978-981-99-0617-8_34
State	Published - 2023
Event	7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022 - Fuzhou, China Duration: 17 Dec 2022 → 18 Dec 2022

Publication series

Name	Communications in Computer and Information Science
Volume	1787 CCIS
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022
Country/Territory	China
City	Fuzhou
Period	17/12/22 → 18/12/22

Keywords

CPG
Manta ray robot
NSGA-II
Phase transition

Access to Document

10.1007/978-981-99-0617-8_34

Cite this

Ma, S., Xie, Y., Cao, Y., He, Y., Cao, Y., Cao, Y., & Huang, Q. (2023). NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot. In F. Sun, A. Cangelosi, J. Zhang, Y. Yu, H. Liu, & B. Fang (Eds.), Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers (pp. 489-499). (Communications in Computer and Information Science; Vol. 1787 CCIS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-0617-8_34

Ma, Shumin ; Xie, Yu ; Cao, Yingzhuo et al. / NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot. Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. editor / Fuchun Sun ; Angelo Cangelosi ; Jianwei Zhang ; Yuanlong Yu ; Huaping Liu ; Bin Fang. Springer Science and Business Media Deutschland GmbH, 2023. pp. 489-499 (Communications in Computer and Information Science).

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title = "NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot",

abstract = "The manta ray robot switches the state of its pectoral fins to achieve different swimming states. In this paper, we propose a control method for pectoral fin flutter based on the central pattern generator (CPG). The pectoral fin state is determined by the amplitude, frequency, and phase difference of the CPG output signal. Momentary manipulation of the phase signal output from the CPG can produce a spike or interruption, which leads to unstable pectoral fin flutter of the manta ray robot. Too slow a phase transition can make the response slower and reduce the maneuverability of the robot. An optimization method for the phase transition of the manta ray robot{\textquoteright}s pectoral fin state is investigated. With the output signal smoothness and rapidity as the optimization objectives, the Nondominated Sorting Genetic Algorithm-II (NSAG-II) is used to optimize the CPG parameters and obtain the optimal parameter combination. It is verified by simulation and experiment that the optimized CPG controller output signal can transition smoothly and quickly during phase switching.",

keywords = "CPG, Manta ray robot, NSGA-II, Phase transition",

author = "Shumin Ma and Yu Xie and Yingzhuo Cao and Yue He and Yonghui Cao and Yong Cao and Qiaogao Huang",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022 ; Conference date: 17-12-2022 Through 18-12-2022",

year = "2023",

doi = "10.1007/978-981-99-0617-8_34",

language = "英语",

isbn = "9789819906161",

series = "Communications in Computer and Information Science",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "489--499",

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booktitle = "Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers",

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Ma, S, Xie, Y, Cao, Y, He, Y, Cao, Y, Cao, Y & Huang, Q 2023, NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot. in F Sun, A Cangelosi, J Zhang, Y Yu, H Liu & B Fang (eds), Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. Communications in Computer and Information Science, vol. 1787 CCIS, Springer Science and Business Media Deutschland GmbH, pp. 489-499, 7th International Conference on Cognitive Systems and Information Processing, ICCSIP 2022, Fuzhou, China, 17/12/22. https://doi.org/10.1007/978-981-99-0617-8_34

NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot. / Ma, Shumin; Xie, Yu; Cao, Yingzhuo et al.
Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. ed. / Fuchun Sun; Angelo Cangelosi; Jianwei Zhang; Yuanlong Yu; Huaping Liu; Bin Fang. Springer Science and Business Media Deutschland GmbH, 2023. p. 489-499 (Communications in Computer and Information Science; Vol. 1787 CCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot

AU - Ma, Shumin

AU - Xie, Yu

AU - Cao, Yingzhuo

AU - He, Yue

AU - Cao, Yonghui

AU - Cao, Yong

AU - Huang, Qiaogao

PY - 2023

Y1 - 2023

N2 - The manta ray robot switches the state of its pectoral fins to achieve different swimming states. In this paper, we propose a control method for pectoral fin flutter based on the central pattern generator (CPG). The pectoral fin state is determined by the amplitude, frequency, and phase difference of the CPG output signal. Momentary manipulation of the phase signal output from the CPG can produce a spike or interruption, which leads to unstable pectoral fin flutter of the manta ray robot. Too slow a phase transition can make the response slower and reduce the maneuverability of the robot. An optimization method for the phase transition of the manta ray robot’s pectoral fin state is investigated. With the output signal smoothness and rapidity as the optimization objectives, the Nondominated Sorting Genetic Algorithm-II (NSAG-II) is used to optimize the CPG parameters and obtain the optimal parameter combination. It is verified by simulation and experiment that the optimized CPG controller output signal can transition smoothly and quickly during phase switching.

AB - The manta ray robot switches the state of its pectoral fins to achieve different swimming states. In this paper, we propose a control method for pectoral fin flutter based on the central pattern generator (CPG). The pectoral fin state is determined by the amplitude, frequency, and phase difference of the CPG output signal. Momentary manipulation of the phase signal output from the CPG can produce a spike or interruption, which leads to unstable pectoral fin flutter of the manta ray robot. Too slow a phase transition can make the response slower and reduce the maneuverability of the robot. An optimization method for the phase transition of the manta ray robot’s pectoral fin state is investigated. With the output signal smoothness and rapidity as the optimization objectives, the Nondominated Sorting Genetic Algorithm-II (NSAG-II) is used to optimize the CPG parameters and obtain the optimal parameter combination. It is verified by simulation and experiment that the optimized CPG controller output signal can transition smoothly and quickly during phase switching.

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A2 - Zhang, Jianwei

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A2 - Liu, Huaping

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Ma S, Xie Y, Cao Y, He Y, Cao Y, Cao Y et al. NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot. In Sun F, Cangelosi A, Zhang J, Yu Y, Liu H, Fang B, editors, Cognitive Systems and Information Processing - 7th International Conference, ICCSIP 2022, Revised Selected Papers. Springer Science and Business Media Deutschland GmbH. 2023. p. 489-499. (Communications in Computer and Information Science). doi: 10.1007/978-981-99-0617-8_34

NSGA-II Optimization-Based CPG Phase Transition Control Method of Manta Ray Robot

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