We have designed and
constructed an amphibious fish
robot capable of swimming and
crawling. The goal of the
project is two-fold: (1) the
robot serves as test-bed for
our locomotion controllers
based on systems of coupled
nonlinear oscillators (CPGs)
and (2) the robot is used in
an interactive exhibition at
EPFL, the Forum Dec
more

We have designed and
constructed an amphibious fish
robot capable of swimming and
crawling. The goal of the
project is two-fold: (1) the
robot serves as test-bed for
our locomotion controllers
based on systems of coupled
nonlinear oscillators (CPGs)
and (2) the robot is used in
an interactive exhibition at
EPFL, the Forum Decouvertes.
The robot is constructed using
the same elements as our
salamander robot Salamandra
robotica.

The control architecture of
the robot is constructed
around a central pattern
generator (CPG) implemented as
a system of coupled nonlinear
oscillators, which, like its
biological counterpart, can
produce coordinated patterns
of rhythmic activity while
being modulated by simple
control parameters. Using the
CPG model, the robot is
capable of performing and
switching between a variety of
different locomotor behaviors
such as swimming forwards,
swimming backwards, turning,
rolling, moving
upwards/downwards, and
crawling. These behaviors are
triggered and modulated by
sensory input provided by
light, contact, and water
sensors.

Category Gadgets & Games

Tags Gadget