Optimal central pattern generator for swimming gait of robotic fish using mutant particle swarm optimization

In the paper, a black knifefish-inspired robot with an elongated undulating fin is investigated for locomotion control using an improved CPG model. The proposed CPG network has sixteen fin rays connected Hopf oscillators for creating fish-like swimming gaits. To identify a set of optimal parameters for the modified CPG network, mutant particle swarm optimization (MPSO), an improved form of particle swarm optimization (PSO), is introduced.