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The effect of sensory feedback topology on the entrainment of a neural oscillator with a compliant foil for swimming systems
Journal article   Peer reviewed

The effect of sensory feedback topology on the entrainment of a neural oscillator with a compliant foil for swimming systems

Gabriel N Carryon and James L Tangorra
Bioinspiration & biomimetics, v 15(4), pp 046013-046013
09 Jun 2020
DOI: https://doi.org/10.1088/1748-3190/ab76a0
PMID: 32059194

Abstract

central pattern generator compliant foil entrainment fish-like robot neural oscillator sensory feedback topology
The sensorimotor system of fish endows them with remarkable swimming performance that is unmatched by current underwater robotic vehicles. To close the gap between the capabilities of fish and the capabilities of underwater vehicles engineers are investigating how fish swim. In particular, engineers are exploring the sensorimotor systems of fish that control the motion of fins. It is generally accepted that specialized neural circuits (known as central pattern generators) within the sensorimotor system produce the periodic drive signal that is used to control the motion of fins. An important aspect of these circuits is that their output signal can be modified by sensory feedback. Specifically, the way in which sensory feedback signals are applied to a CPG (i.e. the sensory feedback topology) affects the CPG's entrainment characteristics. This has been shown in simulation but has not been investigated in a robot interacting in the real-world. Furthermore, CPG-based control has only limitedly been applied to fish like robots and many questions remain as to how it should be applied to these types of systems. In this work we examine the effect of sensory feedback topology on the entrainment characteristics of a CPG-based neural oscillator driving three different foils swimming in flow. Additionally, we investigate how sensory feedback should be acquired from a foil and applied to a neural oscillator to promote beneficial swimming characteristics.

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4 citations in Web of Science
6 citations in Scopus

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Web of Science research areas
Engineering, Multidisciplinary
Materials Science, Biomaterials
Robotics
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