Controlling a lamprey-based robot with an electronic nervous system

We have developed a biomimetic underwater robot based on the biomechanics and neural control systems of the sea lamprey, to better understand how sensory systems modulate behavior and demonstrate the advantages of neuronal circuits over algorithmic control. The robot has an electronic nervous system (ENS) consisting of discrete-time map-based neurons and synapses. The neurons and synapses are connected to form networks. These networks consist of sets of segmental central pattern generator (CPG) that produce locomotor control signals. To allow the robot to reactively navigate through its environment, we developed an exteroceptive sensory suite consisting of an accelerometer, tilt sensor, compass and sonar short baseline array (SBA). Given a goal such as a destination the robot makes decisions reactively, based on its sensory inputs, rather than a pre-determined algorithm. Compensation for impediments by nested exteroceptive reflexes allows the robot to navigate reactively in an unpredictable environment.