In this work a project which aims at the construction of LampBot II, an autonomous biologically-inspired swimming robot, is presented. LampBot II is capable of mimicking the undulatory swimming of a sea lamprey. The system used to generate locomotion is based on the paradigm of the Central Pattern Generator (CPG) and is implemented on a chip based on a Cellular Nonlinear Network (CNN). Two prototype structures have been developed in order to evaluate the feasibility of the actuation by means of Shape Memory Alloy (SMA) wires or servo motors.
A wave-based CNN generator for the control and actuation of a lamprey-like robot
ARENA, Paolo Pietro;FORTUNA, Luigi;FRASCA, MATTIA;
2006-01-01
Abstract
In this work a project which aims at the construction of LampBot II, an autonomous biologically-inspired swimming robot, is presented. LampBot II is capable of mimicking the undulatory swimming of a sea lamprey. The system used to generate locomotion is based on the paradigm of the Central Pattern Generator (CPG) and is implemented on a chip based on a Cellular Nonlinear Network (CNN). Two prototype structures have been developed in order to evaluate the feasibility of the actuation by means of Shape Memory Alloy (SMA) wires or servo motors.File in questo prodotto:
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