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.