Fig 1.
Topological structure diagram of the CPG network of the robot.
Fig 2.
ANFIS model structure.
Fig 3.
CPG-ANFIS-PID control principle diagram.
Fig 4.
Robot straight swimming modes.
t = 0~10s: Slow-velocity; t = 10~20s: Moderate-velocity; High-velocity: t = 20~30s. (a) Neurons 1 to 4, (b) Neurons 5 to 8, (c) Neurons 9 to 12, (d) Neurons 13 to 16, (e) Neurons 17 to 20, (f) Neurons 21 to 22.
Fig 5.
t = 0~15s: left turn bow; t = 15~30s: right turn bow. (a) Neurons 1 to 4, (b) Neurons 5 to 8, (c) Neurons 9 to 12, (d) Neurons 13 to 16, (e) Neurons 17 to 20, (f) Neurons 21 to 22.
Fig 6.
t = 0~15s: Floating; t = 15~30s: Diving. (a) Neurons 1 to 4, (b) Neurons 5 to 8, (c) Neurons 9 to 12, (d) Neurons 13 to 16, (e) Neurons 17 to 20, (f) Neurons 21 to 22.
Fig 7.
t = 0~10s: Moderate-velocity; t = 10~20s: Left turn bow; t = 20~30s: Diving. (a) Neurons 1 to 4, (b) Neurons 5 to 8, (c) Neurons 9 to 12, (d) Neurons 13 to 16, (e) Neurons 17 to 20, (f) Neurons 21 to 22.
Fig 8.
Comparison of simulation results between CPG-ANFIS-PID and CPG.
(a) Neurons 5 and 7, (b) Neurons 9 and 10, (c) Neurons 14 and 17, (d) Neurons 18 and 21.
Fig 9.
Schematic diagram of the control system.
Fig 10.
Straight swimming motion of coordinated motion of each executing mechanism of the robot.
Fig 11.
Straight swimming motion of coordinated motion of each actuator of the robot.
(a) Neurons 5 and 7, (b) Neurons 9 and 10, (c) Neurons 14 and 17, (d) Neurons 18 and 21.
Fig 12.
Swimming performance test of soft bionic robot.
Table 1.
Test results of cooperative motion of each actuator of the soft bionic robot in straight swimming.
Table 2.
Test results of the soft bionic robot in turning bow.
Table 3.
Test results of the soft bionic robot in snorkeling.