Manfredi et al., 2013: A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion.

[From Matti Kolu (2014.02.14.1610 CET)]

Regarding muscle-like actuation using servomotors: the attached paper
contains a brief discussion (under the 3.1 heading) and some
references that pertain to the subject matter.

Manfredi et al. 2013., A bioinspired autonomous swimming robot as a tool for studying goal-directed locomotion.pdf (1.11 MB)

···

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Biol Cybern. 2013 Oct;107(5):513-27. doi: 10.1007/s00422-013-0566-2.
Epub 2013 Sep 13.
A bioinspired autonomous swimming robot as a tool for studying
goal-directed locomotion.
Manfredi L, Assaf T, Mintchev S, Marrazza S, Capantini L, Orofino S,
Ascari L, Grillner S, Wallén P, Ekeberg O, Stefanini C, Dario P.

The bioinspired approach has been key in combining the disciplines of
robotics with neuroscience in an effective and promising fashion.
Indeed, certain aspects in the field of neuroscience, such as
goal-directed locomotion and behaviour selection, can be validated
through robotic artefacts. In particular, swimming is a functionally
important behaviour where neuromuscular structures, neural control
architecture and operation can be replicated artificially following
models from biology and neuroscience. In this article, we present a
biomimetic system inspired by the lamprey, an early vertebrate that
locomotes using anguilliform swimming. The artefact possesses extra-
and proprioceptive sensory receptors, muscle-like actuation,
distributed embedded control and a vision system. Experiments on
optimised swimming and on goal-directed locomotion are reported, as
well as the assessment of the performance of the system, which shows
high energy efficiency and adaptive behaviour. While the focus is on
providing a robotic platform for testing biological models, the
reported system can also be of major relevance for the development of
engineering system applications.

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Matti

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[From Adam Matic 2014.02.014 16.50 CET]

Matti Kolu (2014.02.14.1610 CET)
-
Biol Cybern. 2013 Oct;107(5):513-27. doi: 10.1007/s00422-013-0566-2.
Epub 2013 Sep 13.
A bioinspired autonomous swimming robot as a tool for studying
goal-directed locomotion.

Looks similar to this:
<http://www.youtube.com/watch?v=RvN4S5ZENjM&gt;http://www.youtube.com/watch?v=RvN4S5ZENjM

[From Matti Kolu (2014.02.1800 CET)]

Adam Matic 2014.02.014 16.50 CET--

Looks similar to this:
http://www.youtube.com/watch?v=RvN4S5ZENjM

That is the Salamandra robotica II:

http://infoscience.epfl.ch/record/186787/files/tro12.pdf

It does look similar, but the method of actuation used in the Manfredi
paper is slightly cooler. :slight_smile: Stefanini's permanent magnet solution is
very, very neat. Patented in 2011.

Matti

Matti Kolu <tel:%282014.02.1800>(2014.02.1800 CET)
[..] the method of actuation used in the Manfredi
paper is slightly cooler. :slight_smile: Stefanini's permanent magnet solution is
very, very neat. Patented in 2011.

AM:
Agreed. Very original use of magnets.
Adam