An underwater reconfigurable robot with bioinspired electric sense

Stefano Mintchev, Cesare Stefanini, Alexis Girin, Stefano Marrazza, Stefano Orofino, Vincent Lebastard, Luigi Manfredi, Paolo Dario, Frederic Boyer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)

Abstract

Morphology, perception and locomotion are three key features highly inter-dependent in robotics. This paper gives an overview of an underwater modular robotic platform equipped with a bio-inspired electric sense. The platform is reconfigurable in the sense that it can split into independent rigid modules and vice-versa. Composed of 9 modules, the longer entity can swim like an eel over long distances, while once detached, each of its modules is efficient for small displacements with a high accuracy. Challenges are to mechanically ensure the morphology changes and to do it automatically. Electric sense is used to guide the modules during docking phases and to navigate in unknown scenes. Several aspects of the design of the robot are described and a particular attention is paid to the inter-module docking system. The feasibility of the design is assessed through experiments.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1149-1154
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 14 May 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

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  • Cite this

    Mintchev, S., Stefanini, C., Girin, A., Marrazza, S., Orofino, S., Lebastard, V., Manfredi, L., Dario, P., & Boyer, F. (2012). An underwater reconfigurable robot with bioinspired electric sense. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 1149-1154). [6224956] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224956