Model for a Sensor Inspired by Electric Fish

Author

Boyer, Frédéric ; Gossiaux, Pol Bernard ; Jawad, Brahim ; Lebastard, Vincent ; Porez, Mathieu

Author_Institution

Inst. de Rech. en Commun. et Cybernetique de Nantes Lab., Ecole des Mines de Nantes, Nantes, France

Volume

28

Issue

2

fYear

2012

fDate

4/1/2012 12:00:00 AM

Firstpage

492

Lastpage

505

Abstract

This paper reports the first results from a program of work aimed at developing a swimming robot equipped with electric sense. After having presented the principles of a bioinspired electric sensor that is now working, we will build the models for electrolocation of objects that are suited to this kind of sensor. The produced models are in a compact analytical form in order to be tractable on the onboard computers of the future robot. These models are tested by comparing them with numerical simulations based on the boundary elements method. The results demonstrate the feasibility of the approach and its compatibility with online objects electrolocation, i.e., another parallel program of ours.

Keywords

biosensors; boundary-elements methods; electric sensing devices; mobile robots; underwater vehicles; bioinspired electric sensor; boundary element method; electric fish; object electrolocation; swimming robot; Approximation methods; Current measurement; Electric potential; Electrodes; Mathematical model; Robot sensing systems; Active perception; bioinspired sensor; electrokinetics; electrolocation; electrostatics; model reduction; resistance matrix;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2011.2175764

Filename

6101583