Underwater walking

Abstract

Lobsters are generalist decapods that evolved in a broad variety of niches in the Northwestern Atlantic. Due to their inherent buoyancy they have acquired adaptations to reduced traction and surge. We have developed a biomimetic robot based on the lobster that features artificial muscle actuators and sensors employing labeled-line codes. The central controller for this robot is based on the command neuron, coordinating neuron central pattern generator model. A library of commands is released by sensor feedback to mediate adaptive sequences and goal achieving behavior. Rheotaxic behaviors can mediate adaptations to achieve some of the advantages of the biological models.

Dynamic Modelling of a CPG-Controlled Amphibious Biomimetic Swimming Robot

“…Their potential applications involve near-shore observatories, search-and-rescue missions and amphibious reconnaissance, etc. In view of engineering implementations, amphibious robots typically adopt wheel-driven [7], legged-type [8] or wheel-leg hybrid mechanisms [9] for locomotion on land. Others may mimic snakes to crawl on land [2,10,11].…”

Biologically Inspired Robots

“…Many of the controllers developed for robots have been patterned on this organization. This includes controllers for insects (Arena et al, 2004;Beer et al, 1992;Dean et al, 1999), other arthropods (Ayers &Witting, 2007), andvertebrates (Fukuota et al, 2003;Ijspeert et al, 2005). Ferrell evaluated several different designs of controllers (Ferrell, 1995).…”

Biomimetic approaches to the control of underwater walking machines

“…Arthropods have long been the models for the study of the mechanisms of generation of locomotion and navigation (Evoy & Ayers 1982;Bassler & Buschges 1998;Durr et al 2004;Ritzmann et al 2004). We have developed an ambulating underwater robot based on the biomechanics and behavioural set of the American lobster (Ayers 2004b). These robots are intended for use in shallow water remote-sensing operations (Ayers 2000).…”

“…The behavioural set of the lobster represents a proven solution of navigation and adaptation in these complex and often turbulent environments (Atema & Voigt 1995). Implementation of an underwater vehicle based on the lobster (figure 1) presents unique problems with regard to actuation, sensing, hydrodynamics and particularly in adaptive biomimetic control (Ayers 2004b). The controllers that we have developed are based on the neurophysiology and behaviour of the animal model (Ayers 2002a(Ayers , 2004a, and range from finite state machines to electronic neuronal networks.…”