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Yang Y, Yared DG, Fortune ES, Cowan NJ. Sensorimotor adaptation to destabilizing dynamics in weakly electric fish. Curr Biol 2024; 34:2118-2131.e5. [PMID: 38692275 DOI: 10.1016/j.cub.2024.04.019] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/10/2023] [Revised: 12/18/2023] [Accepted: 04/09/2024] [Indexed: 05/03/2024]
Abstract
Humans and other animals can readily learn to compensate for changes in the dynamics of movement. Such changes can result from an injury or changes in the weight of carried objects. These changes in dynamics can lead not only to reduced performance but also to dramatic instabilities. We evaluated the impacts of compensatory changes in control policies in relation to stability and robustness in Eigenmannia virescens, a species of weakly electric fish. We discovered that these fish retune their sensorimotor control system in response to experimentally generated destabilizing dynamics. Specifically, we used an augmented reality system to manipulate sensory feedback during an image stabilization task in which a fish maintained its position within a refuge. The augmented reality system measured the fish's movements in real time. These movements were passed through a high-pass filter and multiplied by a gain factor before being fed back to the refuge motion. We adjusted the gain factor to gradually destabilize the fish's sensorimotor loop. The fish retuned their sensorimotor control system to compensate for the experimentally induced destabilizing dynamics. This retuning was partially maintained when the augmented reality feedback was abruptly removed. The compensatory changes in sensorimotor control improved tracking performance as well as control-theoretic measures of robustness, including reduced sensitivity to disturbances and improved phase margins.
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Affiliation(s)
- Yu Yang
- Department of Mechanical Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA; Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA.
| | - Dominic G Yared
- Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA
| | - Eric S Fortune
- Federated Department of Biological Sciences, New Jersey Institute of Technology, 323 Dr. Martin Luther King Jr. Boulevard, Newark, NJ 07102, USA
| | - Noah J Cowan
- Department of Mechanical Engineering, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA; Laboratory for Computational Sensing and Robotics, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA.
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Li Y, Xu Y, Wu Z, Ma L, Guo M, Li Z, Li Y. A comprehensive review on fish-inspired robots. INT J ADV ROBOT SYST 2022. [DOI: 10.1177/17298806221103707] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022] Open
Abstract
Recently, the increasing interest in underwater exploration motivates the development of aquatic unmanned vehicles. To execute hazardous tasks in an unknown or even hostile environment, researchers have directed on developing biomimetic robots inspired by the extraordinary maneuverability, cruising speed, and propulsion efficiency of fish. Nevertheless, the performance of current prototypes still has gaps compared with that of real fishes. In this review, recent approaches in structure designs, actuators, and sensors are presented. In addition, the theoretical methods for modeling the robotic fishes are consolidated, and the control strategies are offered. Finally, the current challenges are summarized, and possible future directions are deeply discussed. It is expected that the emergence of new engineering and biological technologies will enhance the field of robotic fish for further advancement.
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Affiliation(s)
- Yi Li
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou, China
- Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou, China
| | - Yuteng Xu
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou, China
- Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou, China
| | - Zhenguo Wu
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou, China
- Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou, China
| | - Lei Ma
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou, China
- Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou, China
| | - Mingfei Guo
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou, China
- Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou, China
| | - Zhixin Li
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou, China
- Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou, China
| | - Yanbiao Li
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou, China
- Zhejiang Provincial Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Zhejiang University of Technology, Hangzhou, China
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