Environment-adaptive motion attitude control method for undulating fin robot

The invention relates to an environment-adaptive motion attitude control method for a fluctuating fin robot. The system comprises an upper computer module, an environment recognition module and a posture control module. Wherein the upper computer module is an operation core of the control system and comprises instruction sending and data processing; the environment recognition module is used for carrying out image collection on the environment where the robot is located, extracting feature values, recognizing the feature values through a neural network mode and finally feeding back a result to the upper computer; and the attitude control module adjusts the attitude of the undulating fin robot according to the instruction from the upper computer according to the feedback result. According to the attitude control method, adaptive attitude adjustment of the undulating fin robot in different land environments can be ensured, so that the undulating fin robot generates the maximum thrust. 本发明涉及一种环境自适应的波动鳍机器人运动姿态控制方