This document discusses the use of central pattern generators (CPGs) to model and control the propulsion of manta rays. It describes how CPGs generate oscillatory patterns of muscle activity through neural networks similar to half center models. Asymmetrical stimulation of CPG regions in a manta ray can induce turning behaviors. The document proposes using coupled nonlinear oscillators based on fin ray mechanics and Hopf oscillators to generate gaits for a manta ray robot controlled by a CPG-based motion structure.

1. C.P.G and manta ray
BY - Purnima Sharma
MSC.Bionics,13813
Hochschule Rhine Waal ,university of Applied University, Germany
1

2. Efficient propulsion of manta ray
 Central pattern generator
(brown idea)
 Neural-inspired control system
 oscillatory pattern of muscle
activity
 Electric stimulation will induce
locomotion behaviors
 Asymmetrical stimulation
between region leads to
turning.
Central Pattern Generation
Refernces- Eve Marder and Dirk Bucher,Central pattern generators and the control of rhythmic movements, Current Biology Vol 11 No 23,page noR986-R984

3. Rhythm generation
Half Center CPG Model
 Explained by Half center
organization of CPG
 2 Groups of neurons
are involved
 reciprocally coupled =
rhythmic outputs
 Phase switching depend
on synaptic release
References - http://www.ncbi.nlm.nih.gov/pmc/articles/PMC2214837/

4. oscillatory model based on coupled non linear oscillator
 Fin rays as cantilever beam
 Six oscillators generate gaits for
six fin rays
 Hopf oscillator as pattern
generator
 Inter oscillatory coupling and
different frequency affecting
synchronization
CPG based motion control structure for manta
ray robot
Refrences- Chunlin Zhou and K. H. Low,, Design and Locomotion Control of a Biomimet Underwater Vehicle With Fin Propulsion, IEEE/ASME
TRANSACTIONS ON MECHATRONICS, VOL. 17, NO. 1, FEBRUARY 2012