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First results on a sensor bio-inspired by electric fish
Servagent N., Jawad B., Bouvier S., Boyer F., Girin A. et al
Rapport de recherche - http://hal.archives-ouvertes.fr/hal-00695453
Sciences de l'ingénieur/Automatique / Robotique
First results on a sensor bio-inspired by electric fish
Noël Servagent1, Brahim Jawad ()2, Stéphane Bouvier1, Frédéric Boyer2, Alexis Girin ()2, Francesco Gomez1, Vincent Lebastard ()2, Pol-Bernard Gossiaux ()1
1 :  SUBATECH - Laboratoire SUBATECH Nantes
CNRS : UMR6457 – IN2P3 – Université de Nantes – École Nationale Supérieure des Mines - Nantes
4, rue Alfred Kastler - 44070 Nantes Cedex 03
2 :  IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
CNRS : UMR6597 – PRES Université Nantes Angers Le Mans [UNAM] – École Centrale de Nantes – École Nationale Supérieure des Mines - Nantes – Ecole Polytechnique de l'Université de Nantes
1, rue de la Noë BP92101 44321 Nantes Cedex 03
This article presents the first results of a work which aims at designing an active sensor inspired by the electric fish. Its interest is its potential for robotics underwater navigation and exploration tasks in conditions where vision and sonar would meet difficulty. It could also be used as a complementary omnidirectional, short range sense to vision and sonar. Combined with a well defined engine geometry, this sensor can be modeled analytically. In this article, we focus on a particular measurement mode where one electrode of the sensor acts as a current emitter and the others as current receivers. In spite of the high sensitivity required by electric sense, the first results show that we can obtain a detection range of the order of the sensor length, which suggests that this sensor principle could be used in future for robotics obstacle avoidance.

Acronyme The ANGELS project is funded by the European Commission, Information Society and Me- dia, Future and
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