Publication

Multi-physics model of an electric fish-like robot: numerical aspects and application to obstacle avoidance

Auke Ijspeert
2011
Conference Papers

Abstract

The paper deals with the modeling of a fishlike robot equipped with the electric sense, suited to study sensorimotor loops. The proposed multi-physics model merges a swimming dynamic model of a fish-like robot with an electric model of an embedded electrolocation sensor. Based on a TCP-IP and threaded framework, the resulting simulator works in real time. After presenting the modeling aspects of this work, this article focuses on two numerical studies. In the first, the interactions between body deformations and perception variables are studied and a current correction process is proposed. In the second study, an electric exteroceptive feedback loop based on a direct current measurement method is designed and tested for obstacle avoidance.

Official source

https://infoscience.epfl.ch/entities/publication/2761b4d0-a60a-4f38-9e7f-fd128b22a938

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Auke Ijspeert
2011
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/2761b4d0-a60a-4f38-9e7f-fd128b22a938

About this result

Related concepts (32)

Electric fish

An electric fish is any fish that can generate electric fields. Most electric fish are also electroreceptive, meaning that they can sense electric fields. The only exception is the stargazer family (Uranoscopidae). Electric fish, although a small minority, include both oceanic and freshwater species, and both cartilaginous and bony fishes. Electric fish produce their electrical fields from an electric organ.

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

Related publications (32)

Multi-physics model of an electric fish-like robot: numerical aspects and application to obstacle avoidance

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