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

@article{Porez2011MultiphysicsMO,
  title={Multi-physics model of an electric fish-like robot: Numerical aspects and application to obstacle avoidance},
  author={Mathieu Porez and Vincent Lebastard and Auke Jan Ijspeert and Fr{\'e}d{\'e}ric Boyer},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={1901-1906}
}
The paper deals with the modeling of a fish-like 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… CONTINUE READING
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