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ANGuilliform robot with ELectric Sense

Objective

The aim of the ANGELS project is to design and build a prototype of a reconfigurable Anguilliform swimming robot able to split into smaller agents (and vice-versa), each equipped with a bio-inspired "electric sense" used both for recognition of objects and communication between agents. This mode of active perception, present in some fish, is based on the polarisation of certain regions of their body, so generating an electric field flowing through an electroreceptive skin. The robot will exploit both "mechanical re-configurability", by changing body topology, and a new concept of "electric re-configurability" that will allow the robots to self-adapt their perception to their environment by changing the location of emitters and receptors on the robot boundaries. The electric field generated around the robots can be considered as an "electric-body" shaped through electric reconfigurations. ANGELS will explore the range of abilities conferred by different mechanical and electric morphologies, from the shaping of the common electric body shared by the agents navigating in formation, to design of behavioural cooperative rules inspired by fish for improving multi-agent perception through emergent collective behaviours. Thus the intelligence encoded in the animals' morphology will be applied to the design of a new generation of Autonomous Underwater Vehicles able to adapt to their environment and suited to a wide spectrum of uses, in particular in situations where vision cannot be used. To achieve these goals, the ANGELS will form a multidisciplinary team combining the complementary expertise of biologists, roboticians, image-processing specialists and nuclear physicsits specialised in the design of particle detectors.

Coordinator

ASSOCIATION POUR LA RECHERCHE ET LE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS

Address

Boulevard Saint Michel 60
75272 Paris

France

Activity type

Research Organisations

EU Contribution

€ 1 055 722

Administrative Contact

Frederic BOYER (Mr.)

Participants (8)

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ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE

Switzerland

EU Contribution

€ 551 080

RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN

Germany

EU Contribution

€ 284 127

UNIVERSITAET STUTTGART

Germany

EU Contribution

€ 458 640

CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS

France

EU Contribution

€ 143 075

SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO S ANNA

Italy

EU Contribution

€ 385 996

UNIVERSIDAD DE LA REPUBLICA

Uruguay

EU Contribution

€ 100 912

MINISTERIO DE EDUCACION Y CULTURA

Uruguay

EU Contribution

€ 120 448

ECOLE NATIONALE SUPERIEURE DES TECHNIQUES INDUSTRIELLES ET DES MINES DE NANTES

France

Project information

Grant agreement ID: 231845

Status

Closed project

  • Start date

    1 February 2009

  • End date

    31 July 2012

Funded under:

FP7-ICT

  • Overall budget:

    € 4 034 076

  • EU contribution

    € 3 100 000

Coordinated by:

ASSOCIATION POUR LA RECHERCHE ET LE DEVELOPPEMENT DES METHODES ET PROCESSUS INDUSTRIELS

France