Life Magazine, June 25, 1925
AgnathaX from EPFL Biorobotics Lab (BIOROB), Tohoku University in Japan, the Institut Mines-Télécom Atlantique in Nantes, and Université de Sherbrooke, Canada (2021). AgnathaX is an elongate undulatory swimming robot modelled on the lamprey. While it is possible to swim using only a Central Pattern Generator (CPG) without any sensing, this approach is not robust to internal disruptions such as weakened signals from the CPG, or signal loss along the spine. The use of sensors and feedback is able to restore swimming function in these cases. Force sensors in the robot snake-skin sense how much the water pushes against the body. This feedback helps to generate and synchronise the rhythmic activity necessary for locomotion, which can be seen as an emergent self-organising phenomenon.
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