A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers

This paper describes the development of a new biorobotic platform inspired by the lamprey. Design, fabrication and implemented control are all based on biomechanical and neuroscientific findings on this eel-like fish. The lamprey model has been extensively studied and characterized in recent years b...

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Bibliographic Details
Published inBioinspiration & biomimetics Vol. 7; no. 2; pp. 025001 - 25008
Main Authors Stefanini, C, Orofino, S, Manfredi, L, Mintchev, S, Marrazza, S, Assaf, T, Capantini, L, Sinibaldi, E, Grillner, S, Wallén, P, Dario, P
Format Journal Article
LanguageEnglish
Published England IOP Publishing 01.06.2012
Subjects
actuators
Animals
bioinspiration
Biomimetic Materials
biorobotics
Computer Simulation
Equipment Design
Equipment Failure Analysis
Feedback
lamprey
Lampreys - physiology
Medicin och hälsovetenskap
Models, Biological
Robotics - instrumentation
Ships - instrumentation
swimming
Swimming - physiology
visuo-motor
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Summary:This paper describes the development of a new biorobotic platform inspired by the lamprey. Design, fabrication and implemented control are all based on biomechanical and neuroscientific findings on this eel-like fish. The lamprey model has been extensively studied and characterized in recent years because it possesses all basic functions and control mechanisms of higher vertebrates, while at the same time having fewer neurons and simplified neural structures. The untethered robot has a flexible body driven by compliant actuators with proprioceptive feedback. It also has binocular vision for vision-based navigation. The platform has been successfully and extensively experimentally tested in aquatic environments, has high energy efficiency and is ready to be used as investigation tool for high level motor tasks.
ISSN:1748-3182
1748-3190
1748-3190
DOI:10.1088/1748-3182/7/2/025001