Abstract: A bionic neural network for fish-robot locomotion is presented. The bionic neural network inspired from fish neural net-work consists of one high level controller and one chain of central pattern generators (CPGs). Each CPG contains a nonlinear neural Zhang oscillator which shows properties similar to sine-cosine model. Simulation results show that the bionic neural network presents a good performance in controlling the fish-robot to execute various motions such as startup, stop, forward swimming, backward swimming, turn right and turn left.

Key words: central pattern generators, neural network, nonlinear oscillator, swimming locomotion, fish-robot