Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (5): 1302-1313.doi: 10.1007/s42235-022-00211-2
A Novel Movement Behavior Control Method for Carp Robot through the Stimulation of Medial Longitudinal Fasciculus Nucleus of Midbrain
Yang Zhao1, Yong Peng1,2,3, Yudong Wen1, Lingjun Han1, Hui Zhang1, Zheng Zhao1, Xiaoyue Liu1
- 1 School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China 2 Key Laboratory of National Defense of Mechanical Structure and Material Science Under Extreme Conditions, Yanshan University, Qinhuangdao 066004, China 3 Institute of Marine Science and Engineering, Yanshan University, Qinhuangdao 066004, China
A Novel Movement Behavior Control Method for Carp Robot through the Stimulation of Medial Longitudinal Fasciculus Nucleus of Midbrain
Yang Zhao1, Yong Peng1,2,3, Yudong Wen1, Lingjun Han1, Hui Zhang1, Zheng Zhao1, Xiaoyue Liu1
- 1 School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China 2 Key Laboratory of National Defense of Mechanical Structure and Material Science Under Extreme Conditions, Yanshan University, Qinhuangdao 066004, China 3 Institute of Marine Science and Engineering, Yanshan University, Qinhuangdao 066004, China
摘要： Biological robot is a kind of creature controlled by human beings by applying intervention signals through control technology to regulate biological behavior. At present, the research on bio-robot mainly focuses on terrestrial mammals and insects, while the research on aquatic animal robot is less. Early studies have shown that the medial longitudinal fasciculus nucleus (NFLM) of carp midbrain was related to tail wagging, but the research has not been applied to the navigation control of the carp robot. The purpose of this study is to realize the quantitative control of the forward and steering behavior of the carp robot by NFLM electrical stimulation. Under the condition of no craniotomy, brain electrode was implanted into the NFLM of the carp midbrain, and the underwater control experiment was carried out by applying different electrical stimulation parameters. Using the ImageJ software and self-programmed, the forward motion speed and steering angle of steering motion of the carp robot before and after being stimulated were calculated. The experimental results showed for the carp robot that was induced the steering motion, the left and right steering motion of 30° to 150° could be achieved by adjusting the stimulation parameters, for the carp robot that was induced the forward motion, the speed of forward motion could be controlled to reach 100 cm/s. The research lays a foundation for the accurate control of the forward and steering motion of the aquatic animal robot.