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—The EU-funded CoCoRo project studies heterogeneous swarms of AUVs used for the purposes of underwater monitoring and search. The CoCoRo underwater swarm system will combine bio-inspired motion principles with biologically-derived collective cognition mechanisms to provide a novel robotic system that is scalable, reliable and flexible with respect its(More)
This paper describes the development of a new biorobotic platform inspired by the lamprey. Design, fabrication and implemented control are all based on biomechanical and neuroscientific findings on this eel-like fish. The lamprey model has been extensively studied and characterized in recent years because it possesses all basic functions and control(More)
Morphology, perception and locomotion are three key features highly inter-dependent in robotics. This paper gives an overview of an underwater modular robotic platform equipped with a bio-inspired electric sense. The platform is reconfigurable in the sense that it can split into independent rigid modules and vice-versa. Composed of 9 modules, the longer(More)
The bioinspired approach has been key in combining the disciplines of robotics with neuroscience in an effective and promising fashion. Indeed, certain aspects in the field of neuroscience, such as goal-directed locomotion and behaviour selection, can be validated through robotic artefacts. In particular, swimming is a functionally important behaviour where(More)
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(More)
The work reported in this paper addresses the development of soft bodied robots for adaptive interaction with the environment and for increased energy efficiency, thanks to intrinsic body properties and to storage of mechanical energy. Swimming locomotion has been chosen as elective field, because of an active research framework (European research project "(More)
The work reported in this paper addresses the development of a reconfigurable anguilliform swimming robotic platform carried out in the framework of an active research Project (European research Contract " ANGELS " [1, 2] on bio-inspired electric sense). The artefact is designed to swim either as an eel-like whole entity, or splitting into smaller agents(More)
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