Publiée le 06/04/11 à 17h44

Licence Creative Commons CC-By-NC

ADVANCES in our understanding of the neuronal locomotor circuits of salamanders and lampreys have increased our need for tools on which to evaluate hypotheses and computational models. Besides simulation, robots can be a very powerful tool in this direction. Robots can be the interface between our computational models and the real world. This is the reason why proper robotic design and advanced performance are important.
Besides Salamandra robotica, only a few other prototypes of salamander-like robots (i.e., quadruped robots with several degrees of freedom in the spine) have been the object of scientific publications:
i) Robo-Salamander, a salamander-like robot with two degrees of freedom for the spine, and two for each leg; no experiments with it have been published, and no other publications followed. It is tethered (both for power and control), and is only capable of walking.
ii) A salamander robot with 6 segments and an on-board FPGA-based control system. It is not amphibious and can only walk. None of these robots is capable of swimming, and none is fully autonomous.
We will describe our new salamander-like robot (Salamandra Robotica II) and we will demonstrate its performance through the characterization of some basic control parameters.