Propulsion control for a Manta robot with neural oscillators

Masaaki Ikeda, Yuya Yamamoto, Katsunori Yoshinaka, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


In recent years, autonomous unmanned underwater vehicles (AUVs) for underwater exploration are studied and developed activity. It is important to control the position and attitude of an AUV in underwater with stream change. A conventional AUV moves underwater using screw propellers. In underwater, fishes control own fins and body more freely than an AUV using screw propellers. A kind of the neural oscillator that generates periodic movement of living thing is called a central pattern generator (CPG). In this paper, we develop an underwater exploration robot that mimics a Manta out of many fishes, where its mechanical reproduction is easy relatively. Furthermore, a CPG is proposed to control the propulsive power by the pectoral fins of the Manta robot. The effectiveness of the proposed method is verified by the experiment using the developed Manta robot.

Original languageEnglish
Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages4
ISBN (Print)9781467322591
Publication statusPublished - 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Publication series

NameProceedings of the SICE Annual Conference


Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012


  • Central Pattern Generator
  • Manta robot
  • Robotic fish

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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