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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

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	Institute of Electrical and Electronics Engineers Inc.
Pages	5094-5098
Number of pages	5
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224948
Publication status	Published - 5 Dec 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: 14 May 2012 → 18 May 2012

Conference

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

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

UN SDGs

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

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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 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224948

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title = "A compliant bioinspired swimming robot with neuro-inspired control and autonomous behavior",

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.",

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

year = "2012",

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doi = "10.1109/ICRA.2012.6224948",

language = "English",

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pages = "5094--5098",

booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",

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note = " 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",

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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, Institute of Electrical and Electronics Engineers Inc., pp. 5094-5098, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 14/05/12. 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. Institute of Electrical and Electronics Engineers Inc., 2012. p. 5094-5098 6224948.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Assaf, T.

AU - Capantini, L.

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AU - Wallen, P.

AU - Dario, P.

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

Abstract

Conference

ASJC Scopus subject areas

UN SDGs

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