According to the relation between motion patterns and CPG parameters, two feedback strategies are then designed to control pitching and turning locomotion of the pectoral fins respectively.

• 根据CPG模型参数与反馈输入之间的关系，设计了机器鱼俯仰和转弯反馈控制方法，利用反馈的信息自主调节CPG参数，达到控制胸鳍运动模式的目的。