A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior

C. Stefanini; S. Orofino; L. Manfredi; S. Mintchev; S. Marrazza; T. Assaf; L. Capantini; E. Sinibaldi; S. Grillner; P. Wallen; P. Dario

doi:10.1109/ICRA.2012.6224948

A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior

C. Stefanini
, S. Orofino
, L. Manfredi
, S. Mintchev
, S. Marrazza
, T. Assaf
, L. Capantini
, E. Sinibaldi
, S. Grillner
, P. Wallen
, P. Dario

Scuola Superiore Sant’Anna
Istituto Italiano di Tecnologia, Center for Micro-BioRobotics
The Karolinska Institute

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

14 Citations (SciVal)

Abstract

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.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	IEEE
Pages	5094-5098
Number of pages	5
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224948
Publication status	Published - 28 Jun 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, USA United States Duration: 14 May 2012 → 18 May 2012

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	USA United States
City	Saint Paul, MN
Period	14/05/12 → 18/05/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2012.6224948

Cite this

Stefanini, C., Orofino, S., Manfredi, L., Mintchev, S., Marrazza, S., Assaf, T., Capantini, L., Sinibaldi, E., Grillner, S., Wallen, P., & Dario, P. (2012). A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 5094-5098). Article 6224948 (Proceedings - IEEE International Conference on Robotics and Automation). IEEE. https://doi.org/10.1109/ICRA.2012.6224948

A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior. / Stefanini, C.; Orofino, S.; Manfredi, L. et al.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. IEEE, 2012. p. 5094-5098 6224948 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

Stefanini, C, Orofino, S, Manfredi, L, Mintchev, S, Marrazza, S, Assaf, T, Capantini, L, Sinibaldi, E, Grillner, S, Wallen, P & Dario, P 2012, A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224948, Proceedings - IEEE International Conference on Robotics and Automation, IEEE, pp. 5094-5098, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, USA United States, 14/05/12. https://doi.org/10.1109/ICRA.2012.6224948

Stefanini C, Orofino S, Manfredi L, Mintchev S, Marrazza S, Assaf T et al. A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. IEEE. 2012. p. 5094-5098. 6224948. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6224948

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abstract = "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.",

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AU - Assaf, T.

AU - Capantini, L.

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A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior

Abstract

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UN SDGs

ASJC Scopus subject areas

Access to Document

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