Biomimetic Behavior Models For Controlling A Robotic Fish

In this chapter, we present different methods developed to control the FishBot so that the lure can mimic the zebrafish movements (Fig. 8.1). In particular, we present a zebrafish-like locomotion pattern implemented at the level of the FishBot. A model capable of reproducing the trajectories made by zebrafish inside of the shoal is also presented. We conclude the chapter by showing the validation of the control algorithms in an experiment involvingmultiple robots and multiple fish, and showing that the trajectories as well as the locomotion patterns do mimic the zebrafish ones.This chapter is based on the publication Design of a Modular Robotic System that Mimics Small Fish Locomotion and Body Movements for Ethological Studies (Bonnet et al. 2017b) with slight modifications to fit the present dissertation.