Controlling a lamprey-based robot with an electronic nervous system

@inproceedings{Westphal2011ControllingAL,
  title={Controlling a lamprey-based robot with an electronic nervous system},
  author={Anthony Westphal and Nikolai F. Rulkov and Joseph Ayers and D E Brady and M. Hunt},
  year={2011}
}
We are developing a biomimetic robot based on the Sea Lamprey. The robot consists of a cylindrical electronics bay propelled by an undulatory body axis. Shape memory alloy (SMA) actuators generate propagating flexion waves in five undulatory segments of a polyurethane strip. The behavior of the robot is controlled by an electronic nervous system (ENS) composed of networks of discrete-time map-based neurons and synapses that execute on a digital signal processing chip. Motor neuron action… CONTINUE READING