Fish-robot interactions in a free-swimming environment: Effects of speed and configuration of robots on live fish

Butail, Sachit; Polverino, Giovanni; Phamduy, Paul; Sette, Fausto Del; Porfiri, Maurizio

doi:10.1117/12.2044622

Cited by 10 publications

(18 citation statements)

References 18 publications

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“…While the tail beating of the RiBot does not recreate the exact same hydrodynamic patterns that fish generate, it can reproduce the average tail beating range of the zebrafish that has been shown to be an attractive stimulus. [6][7][8] We have studied the locomotion behavior of zebrafish in a rectangular tank in order to establish a controller for the locomotion of the Fish-CASUs. First, we observed a heterogeneous spatial repartition of the linear speed of the fish in the aquarium.…”

Section: Resultsmentioning

confidence: 99%

“…Finally, in terms of linear speed, in a study by Aureli et al, 7 the lure is moving autonomously underwater and thus its linear speed is quite small. In a study by Butail et al, 8 the lure is attached to a robotic arm that allows it to move with speeds up to 40 mm s À1 . Thanks to the coupling with the FishBot, the RiBot is able to move with much higher speeds than the other existing solutions.…”

Section: Hardware Designmentioning

confidence: 99%

“…RiBot, the active soft robotic lure Based on related studies on zebrafish-robot interactions, [6][7][8] the lure acceptance among the zebrafish shoal can be increased when the lure beats its tail. It is also known that zebrafish can bend their caudal peduncle up to very high angle (up to p rad) with high angular velocities (up to 4.2 rad s À1 ).…”

Section: Hardware Designmentioning

confidence: 99%

“…5 The collective behavior of the fish, in particular, raised the interest of scientists, and several examples of automated lures designed to interact with fish underwater can already be found. For instance, in earlier studies, [6][7][8] zebrafish (Danio rerio) response to a robotic fish was observed. The robotic fish, which had the same aspect ratio as the zebrafish, was attached to a moving device on top of a tank and its speed could be varied, as well as the tail beating and its coloration.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Design of a modular robotic system that mimics small fish locomotion and body movements for ethological studies

Bonnet

Cazenille

Séguret

et al. 2017

International Journal of Advanced Robotic Systems

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Robotic animals are nowadays developed for various types of research, such as bioinspired robotics, biomimetics, and animal behavioral studies. The design of these robots poses great challenges as they often have to achieve very high-level performances in terms of locomotion, size, and visual aspect. We developed a robotic system for direct underwater interactions with small fish species. This robotic platform is composed of two subsystems: a miniature wheeled mobile robot that can achieve complex locomotion patterns and a robotic fish lure that is able to beat its soft caudal peduncle to generate fish-like body movements. The two subsystems are coupled with magnets that allow the robotic lure to reach very high speeds and accelerations, thanks to the mobile robot. We used zebrafish (Danio rerio) to model small fish locomotion patterns and construct a controller for the motion of our robotic system. We have demonstrated that the designed system is able to achieve the same types of motion patterns as the zebrafish while mimicking the body movements of the fish. These results define new standards for robotic fish lures and bring to the field of fish-robot interaction a new tool for ethological studies.

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Section: Resultsmentioning

confidence: 99%

Section: Hardware Designmentioning

confidence: 99%

Section: Hardware Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of a modular robotic system that mimics small fish locomotion and body movements for ethological studies

Bonnet

Cazenille

Séguret

et al. 2017

International Journal of Advanced Robotic Systems

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show abstract

“…In the past decade, researchers in the field of animal-robot interaction have tried to extend this field of study to fish. Four major types of robotic devices have been created for fish-robot interaction studies: a two-dimensional moving platform underneath a tank to transmit the two-dimensional motions to a lure inside the tank using magnetic coupling, as shown in Faria et al (2010); robotic arms that steer lures inside aquariums, as shown in Phamduy et al (2014), Polverino and Porfiri (2013a, b), Kopman et al (2013), Abaid et al (2012), Butail et al (2014a), Cianca et al (2013), Ladu et al (2015a, b), Polverino et al (2012), Spinello et al (2013), Bartolini et al (2016), Donati et al (2016), Ruberto et al (2016Ruberto et al ( , 2017, and Romano et al (2017); wheeled mobile robots that move below a tank and steer lures inside the tank using magnetic coupling, as shown in Swain et al (2012), Rashid et al (2012), and Landgraf et al (2013Landgraf et al ( , 2016; robotic lures that swim autonomously underwater, as shown in Abaid et al (2013), Butail et al (2013), and Butail et al (2014b). While these studies have demonstrated the potential to develop artificial devices able to interact with fish, there is no solution involving multiple robots that move independently and reproduce the same trajectory and locomotion patterns as the fish being studied, which would show how a group of robotic agents would integrate and be able to modulate the collective decision-making process of the animals, as was the case in the LEURRE project.…”

Section: Introductionmentioning

confidence: 99%

Closed-loop interactions between a shoal of zebrafish and a group of robotic fish in a circular corridor

et al. 2018

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Collective behavior based on self-organization has been observed in populations of animals from insects to vertebrates. These findings have motivated engineers to investigate approaches to control autonomous multi-robot systems able to reproduce collective animal behaviors, and even to collectively interact with groups of animals. In this article, we show collective decision making by a group of autonomous robots and a group of zebrafish, leading to a shared decision about swimming direction. The robots can also modulate the collective decision-making process in biased and non-biased experimental setups. These results demonstrate the possibility of creating mixed societies of vertebrates and robots in order to study or control animal behavior.

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Shoaling with Fish: Using Miniature Robotic Agents to Close the Interaction Loop with Groups of Zebrafish Danio rerio

Bonnet

Mondada

2019

Springer Tracts in Advanced Robotics

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Robotic animals are nowadays developed for various types of research, such as bio-inspired robotics, biomimetics and animal behavior studies. The miniaturization of technologies and the increase in performance of embedded systems allowed engineers to develop more powerful, sophisticated and miniature devices. The case of robotic fish is a typical example of such challenging design: the fish locomotion and body movements are difficult to reproduce and the device has to move autonomously underwater. More specifically, in the case of collective animal behavior research, the robotic device has to interact with animals by generating and exploiting signals relevant for social behavior. Once perceived by the animal society as conspecific, these robots can become powerful tools to study the animal behaviors, as they can at the same time monitor the changes in behavior and influence the collective choices of the animal society. In this work, we present novel robotized tools that can integrate shoals of fish in order to study their collective behaviors. This robotic platform is composed of two subsystems: a miniature wheeled mobile robot that can achieve dynamic movements and multi-robot long-duration experiments, and a robotic fish lure that is able to beat its tail to generate fish-like body movements. The two subsystems are coupled with magnets which allows the wheeled mobile robot to steer the robotic fish lure so that it reaches very high speeds and accelerations while achieving shoaling. An experimental setup to conduct studies on mixed societies of artificial and living fish was designed to facilitate the experiments for biologists. A software framework was also implemented to control the robots in a closed-loop using data extracted from visual tracking that retrieved the position of the robots and the fish. We selected the zebrafish Danio rerio as a model to perform experiments to qualify our system. We used the current state of the art on the zebrafish social behavior to define the specifications of the robots, and we performed stimuli analysis to improve their developments. Bio-inspired controllers were designed based on data extracted from experiments with zebrafish for the robots to mimic the zebrafish locomotion underwater. Experiments involving a robot with a shoal of fish in a constrained environment showed that the locomotion of the robot was one of the main factor to affect the collective behavior of zebrafish. We also shown that the body movements and the biomimetic appearance of the lure could increase its acceptance by fish. Finally, an experiment involving a mixed society of v Abstract fish and robots qualified the robotic system to be integrated among a zebrafish shoal and to be able to influence the collective decisions of the fish. These results are very promising for the field of fish-robot interaction studies, as we showed the effect of the robots in long-duration experiments and repetitively, with the same order of response from the animals.

show abstract

Fish-robot interactions in a free-swimming environment: Effects of speed and configuration of robots on live fish

Cited by 10 publications

References 18 publications

Design of a modular robotic system that mimics small fish locomotion and body movements for ethological studies

Design of a modular robotic system that mimics small fish locomotion and body movements for ethological studies

Closed-loop interactions between a shoal of zebrafish and a group of robotic fish in a circular corridor

Shoaling with Fish: Using Miniature Robotic Agents to Close the Interaction Loop with Groups of Zebrafish Danio rerio

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