The sensorimotor system of fish endows them with remarkable swimming performance that is unmatched by current underwater robotic vehicles. To close the gap between the capabilities of fish and the capabilities of underwater vehicles engineers are investigating how fish swim. In particular, engineers are exploring the sensorimotor systems of fish that control the motion of fins. It is generally accepted that specialized neural circuits (known as central pattern generators) within the sensorimotor system produce the periodic drive signal that is used to control the motion of fins. An important aspect of these circuits is that their output signal can be modified by sensory feedback. Specifically, the way in which sensory feedback signals are applied to a CPG (i.e. the sensory feedback topology ) affects the CPG’s entrainment characteristics. This has been shown in simulation but has not been investigated in a robot interacting in the real-world. Furthermore, CPG-based control...

中文翻译：

---

感觉反馈拓扑对游泳系统顺应性箔带动神经振荡器的影响。

鱼的感觉运动系统使它们具有出色的游泳性能，这是当前水下机器人车辆无法比拟的。为了缩小鱼类能力与水下航行器能力之间的差距，工程师正在研究鱼类如何游泳。尤其是，工程师们正在探索控制鳍片运动的鱼类的感觉运动系统。公认的是，感觉运动系统内的专用神经电路（称为中央模式发生器）会产生用于控制鳍片运动的周期性驱动信号。这些电路的一个重要方面是它们的输出信号可以通过感觉反馈来修改。具体而言，将感觉反馈信号施加到CPG的方式（即感觉反馈拓扑）会影响CPG的夹带特性。这已在仿真中显示，但尚未在与现实世界互动的机器人中进行研究。此外，基于CPG的控制...