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UID:6686@i2m.univ-amu.fr
DTSTART;TZID=Europe/Paris:20200916T140000
DTEND;TZID=Europe/Paris:20200916T150000
DTSTAMP:20241120T201937Z
URL:https://www.i2m.univ-amu.fr/evenements/strategies-of-locomotion-for-an
 guilliform-aquatic-robots-from-model-based-control-laws-to-bio-inspired-co
 mplex-network-of-oscillators/
SUMMARY:Johann Hérault (IMT Atlantique): Strategies of locomotion for angu
 illiform aquatic robots: from model-based control laws to bio-inspired com
 plex network of oscillators
DESCRIPTION:Johann Hérault: Since the 2000s\, a new generation of marine r
 obots inspired by eels and aquatic snakes has emerged in academic contexts
 . In this talk\, we report different strategies to control the body actuat
 ion of aquatic slender robots thanks to the bio-inspired robots of our col
 leagues from biorob team (EPFL).\nIn the first part\, we present a model-b
 ased approach for control (and simulation) of swimming elongated fish and 
 robots. The approach is a prolongation of the Lighthill Large Amplitude El
 ongated Body Theory (LAEBT). The fish body is modeled as an internally act
 uated Cosserat beam in finite deformations\,. The LAEBT is revisited from 
 this point of view\, from which the fluid around the fish can be seen as a
  fluid Cosserat beam sliding along the fish body. The partial differential
  equations of the fluid and the body dynamics are derived with standard Ne
 wton’s laws and illustrated through several applications in simulation a
 nd control.\nIn the second part\, we study the emergence of locomotive gai
 ts produced by decentralized control law based on distributed neural oscil
 lators controlling the cyclic motion of the servomotors. This method aims 
 to reproduce the activity of central pattern generators\, which orchestrat
 e the muscle coordination of vertebrate animals. We investigate the effect
  of hydrodynamical feedback on the network of oscillators. We show that th
 e sensory feedback produces redundancy in the oscillators chain and that t
 he control becomes robust to oscillator disruptions. Finally\, we explain 
 the role of the sensory feedback: it produces a frequency detuning along t
 he spinal cord\, which results in a constant phase lag in the chain thanks
  to the diffusive effect of the CPGs.\nProf. Frédéric Boyer and Dr. Joha
 nn Hérault\, IMT Atlantique\, France\n\nIOSSB Seminar
ATTACH;FMTTYPE=image/jpeg:https://www.i2m.univ-amu.fr/wp-content/uploads/2
 020/07/Johann_Herault.jpg
CATEGORIES:Interdisciplinary online seminar series on Biolocomotion
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