中文摘要：

提出了基于中枢模式发生器（CPG）的水下自重构机器人控制网络的演化方法.引入仿生学中的CPG作为控制网络基本组成单元,采用通路矩阵描述水下自重构机器人的构形,实现了由构形到CPG控制网络的演化,并给出了水下自重构机器人典型构形所对应的CPG控制网络的结构及输出波形.结果表明,所提出的方法可以动态生成水下自重构机器人的控制网络.

英文摘要：

The evolution method of control network of underwater self-configurable robot was proposed based on central pattern generator（CPG）.The CPG was introduced as the basic unit and path matrices were adopted to describe different configurations of underwater self-configurable robot.The method of making CPG network evolving from configuration was presented.The structure and output waveform of CPG control network corresponding to typical configuration of underwater self-configurable robot was given.The results show that the method proposed in this paper can dyanmically generate control netwok of the underwater self-reconfigurable robot.