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* Corresponding author 1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : The aim of this project is to design, study and build an ``eel-like robot- prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the realization of a prototype with 12 vertebrae, a skin and a head with two fins. To reach these objectives, a multidisciplinary group of teams and laboratories has been formed in the framework of two French projects.

Keywords : eel-like robot parallel mechanism spherical mechanism prototype

Autor: Frédéric Boyer - Damien Chablat - Philippe Lemoine - Philippe Wenger -



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