Abstract: 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.

Key words: Carp robot , · Midbrain , · Medial longitudinal fasciculus nucleus , · Electrical stimulation , · Steering motion control , · Forward motion control