摘要Brain-controlled technology is the key technology in biological control,and the corresponding relationship between ani-mal brain nuclei and motor behavior is the core.The purpose of this study was to explore the motor nuclei of the medulla oblongata in carp.The carps were subjected to electrical stimulation and chemical stimulation experiments,respectively,in the water-free state,and the effective chemical stimulation sites were injected with the pontamine sky blue solution.The brain tissue sections were obtained by paraffin tissue section technology and the neutral red staining method.By comparing the positions of the brain nuclei shown in earlier studies,the motor nerve nuclei in the medulla oblongata were identified.The brain electrode was implanted into the motor nucleus of the medulla oblongata,and the underwater control experiment and behavioral tests were carried out with different electrical stimulation parameters.The results showed that the abducens nucleus(NVI)was the motor nucleus that controls the ipsilateral steering,and the facial nucleus(NVII)was the motor nucleus that controls the forward movement.By adjusting the stimulation voltage and the stimulation pulse number,the carp can be stably controlled to achieve a left-right steering motion of 30°-180° and a forward motion of more than 80 cm/s.This study indicated that the quantitative control of the steering and forward behavior of the carp can be achieved by electrical stimulation of the NVI and NVII,which provided a certain experimental basis for the accurate control of the carp robot.