TY - GEN
T1 - A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior
AU - Stefanini, C.
AU - Orofino, S.
AU - Manfredi, L.
AU - Mintchev, S.
AU - Marrazza, S.
AU - Assaf, T.
AU - Capantini, L.
AU - Sinibaldi, E.
AU - Grillner, S.
AU - Wallen, P.
AU - Dario, P.
PY - 2012/6/28
Y1 - 2012/6/28
N2 - In this paper the development of a bio-robotic platform is described. The robot design exploits biomechanical and neuroscientific knowledge on the lamprey, an eel-like swimmer well studied and characterized thanks to the reduced complexity of its anatomy. The robot is untethered, has a compliant body, muscle-like high efficiency actuators, proprioceptive sensors to detect stretch and stereoscopic vision. Experiments on the platform are reported, including robust and autonomous goal-directed swimming. Extensive experiments have been possible thanks to very high energy efficiency (around five hour continuous operating) the platform is ready to be used as investigation tool for high level motor tasks.
AB - In this paper the development of a bio-robotic platform is described. The robot design exploits biomechanical and neuroscientific knowledge on the lamprey, an eel-like swimmer well studied and characterized thanks to the reduced complexity of its anatomy. The robot is untethered, has a compliant body, muscle-like high efficiency actuators, proprioceptive sensors to detect stretch and stereoscopic vision. Experiments on the platform are reported, including robust and autonomous goal-directed swimming. Extensive experiments have been possible thanks to very high energy efficiency (around five hour continuous operating) the platform is ready to be used as investigation tool for high level motor tasks.
UR - http://www.scopus.com/inward/record.url?scp=84864469283&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224948
DO - 10.1109/ICRA.2012.6224948
M3 - Chapter in a published conference proceeding
AN - SCOPUS:84864469283
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5094
EP - 5098
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - IEEE
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -