Abstract: Biological robots are the creatures that humans manipulate by applying intervention signals with control technology to regulate biological behavior. In order to solve the problems of the fatigue and the adaptability of animals caused by only light stimulation or electric stimulation for a long time, which affect the control effect of biological robots, a new method of light and electric combining stimulation for the motion behavior control of biological robots is proposed in this manuscript. This study took carp as the research object, carried out the experiment on visual organ damage effect caused by light stimulation in carp, phototaxis experiment and electric stimulation underwater control experiment on carp robots, determined blue as the most sensitive light source, and screened the best light stimulation parameters and the best electric stimulation parameters. The underwater control experiment of light and electric combining stimulation on carp robots was carried out according to the frequency ratio of 1:1, 1:2, 2:1, 1:3 and 3:1 of light and electric stimulation. The Animal Tracker plug-in of Image J software was used to track the motion trajectory of carp robots, calculate the forward motion speed and turning angular speed of each group, and make statistics on the control success rate to obtain the optimal frequency ratio of light and electric combining stimulation control and to evaluate the efficiency of the light and electric combining stimulation control method compared with single control for the control of carp robots. The results showed that blue light source had the least effect on visual organ damage and carp had the strongest negative phototaxis to blue light, when the ratio of light and electric combining stimulation with the control times was 1:2, the forward speed and turning angular speed of carp under the control of stimulation for a long time were stable and the downward trend was slow, and the success rate of the control turning could reach 80%, which was 77.8% and 37.2% higher than that of the single control mode of light stimulation and electric stimulation, respectively. The research indicated that the method of the control of carp robots with light and electric combining stimulation in this study is an effective and practical new biological control mode.

Key words: Carp robot')">Carp robot, Motion behavior control, Light and electric combining stimulation, Phototaxis, Computer vision technology