000228862 001__ 228862
000228862 005__ 20181203024728.0
000228862 0247_ $$2doi$$a10.1177/1729881417706628
000228862 022__ $$a1729-8806
000228862 02470 $$2ISI$$a000402612100001
000228862 037__ $$aARTICLE
000228862 245__ $$aDesign of a modular robotic system that mimics small fish locomotion and body movements for ethological studies
000228862 260__ $$bSciyo$$c2017$$aThousand Oaks
000228862 269__ $$a2017
000228862 300__ $$a12
000228862 336__ $$aJournal Articles
000228862 520__ $$aRobotic animals are nowadays developed for various types of research, such as bioinspired robotics, biomimetics, and animal behavioral studies. The design of these robots poses great challenges as they often have to achieve very high-level performances in terms of locomotion, size, and visual aspect. We developed a robotic system for direct underwater interactions with small fish species. This robotic platform is composed of two subsystems: a miniature wheeled mobile robot that can achieve complex locomotion patterns and a robotic fish lure that is able to beat its soft caudal peduncle to generate fish-like body movements. The two subsystems are coupled with magnets that allow the robotic lure to reach very high speeds and accelerations, thanks to the mobile robot. We used zebrafish (Danio rerio) to model small fish locomotion patterns and construct a controller for the motion of our robotic system. We have demonstrated that the designed system is able to achieve the same types of motion patterns as the zebrafish while mimicking the body movements of the fish. These results define new standards for robotic fish lures and bring to the field of fish–robot interaction a new tool for ethological studies.
000228862 6531_ $$aBiomimetic robots
000228862 6531_ $$aanimal–robot interaction
000228862 6531_ $$aunderwater robotics
000228862 6531_ $$asoft robotics
000228862 6531_ $$azebrafish
000228862 700__ $$0247666$$g178485$$aBonnet, Frank
000228862 700__ $$aCazenille, Leo
000228862 700__ $$aSéguret, Axel
000228862 700__ $$0242141$$g173136$$aGribovskiy, Alexey
000228862 700__ $$0250263$$g273601$$aCollignon, Bertrand Eric
000228862 700__ $$aHalloy, Jose
000228862 700__ $$aMondada, Francesco$$g102717$$0240589
000228862 773__ $$j14$$tInternational Journal of Advanced Robotic Systems$$k3
000228862 909C0 $$0252016$$pLSRO
000228862 909CO $$ooai:infoscience.tind.io:228862$$pSTI$$particle
000228862 917Z8 $$x178485
000228862 917Z8 $$x178485
000228862 937__ $$aEPFL-ARTICLE-228862
000228862 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000228862 980__ $$aARTICLE