Similarity Evaluation Rule and Motion Posture Optimization for a Manta Ray Robot

The current development of manta ray robots is usually based on functional bionics, and there a lack bionic research to enhance the similarity motion posture. To better exploit characteristics bionic, evaluation rule constructed herein by Dynamic Time Warping (DTW) algorithm guide optimization control parameters robot. Central Pattern Generator (CPG) network with time space asymmetry oscillation improved generate coordinated signals for optimize similarity, CPG optimized genetic particle swarm (GAPSO) solve problems multiple parameters, high non-linearity, uncertain parameter coupling in network. experimental results indicate that between forward pose robot 88.53%.