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

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

Research output: Contribution to journalArticle

44 Citations (Scopus)

Abstract

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.

Original languageEnglish
Article number025001
JournalBioinspiration and Biomimetics
Volume7
Issue number2
DOIs
Publication statusPublished - 22 May 2012

    Fingerprint

Cite this

Stefanini, C., Orofino, S., Manfredi, L., Mintchev, S., Marrazza, S., Assaf, T., Capantini, L., Sinibaldi, E., Grillner, S., Wallén, P., & Dario, P. (2012). A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers. Bioinspiration and Biomimetics, 7(2), [025001]. https://doi.org/10.1088/1748-3182/7/2/025001