title: A novel autonomous, bioinspired swimming robot developed by neuroscientists and bioengineers.
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.
authors.affiliation: The BioRobotics Institute, Scuola Superiore Sant’Anna (SSSA), Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italy.
authors.forename: C
authors.initials: C
authors.lastname: Stefanini
authors.forename: S
authors.initials: S
authors.lastname: Orofino
authors.forename: L
authors.initials: L
authors.lastname: Manfredi
authors.forename: S
authors.initials: S
authors.lastname: Mintchev
authors.forename: S
authors.initials: S
authors.lastname: Marrazza
authors.forename: T
authors.initials: T
authors.lastname: Assaf
authors.forename: L
authors.initials: L
authors.lastname: Capantini
authors.forename: E
authors.initials: E
authors.lastname: Sinibaldi
authors.forename: S
authors.initials: S
authors.lastname: Grillner
authors.forename: P
authors.initials: P
authors.lastname: Wallén
authors.forename: P
authors.initials: P
authors.lastname: Dario
mesh_terms: D000818:Animals; D040761:Biomimetic Materials; D003198:Computer Simulation; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D007798:Lampreys / Q000502:physiology*; D008954:Models, Biological; D012371:Robotics / Q000295:instrumentation*; D012767:Ships / Q000295:instrumentation*; D013550:Swimming / Q000502:physiology*