Robot motor learning shows emergence of frequency-modulated, robust swimming with an invariant Strouhal number | Journal of The Royal Society Interface | The Royal Society
Electronic supplementary material is available online at https://doi.org/10.6084/m9.figshare.c.7125496. Hankun Deng, Donghao Li, Colin Nitroy, Andrew Wertz, Shashank Priya, Bo Cheng; Robot motor learning shows emergence of frequency-modulated, robust swimming with an invariant Strouhal number. J R Soc Interface 1 March 2024; 21 (212): 20240036. https://doi.org/10.1098/rsif.2024.0036 Download citation file: Fish locomotion emerges from diverse interactions among deformable structures, surrounding fluids and neuromuscular activations, i.e. fluid–structure interactions (FSI) controlled by fish's motor systems. Previous studies suggested that such motor-controlled FSI may possess embodied traits. However, their implications in motor learning, neuromuscular control, gait generation, and swimming performance remain to be uncovered. Using robot models, we studied the embodied traits in fish-inspired swimming. We developed modular robots with various designs and used central pattern generators
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