Central pattern generators for biomorphic robotics
Journal: Genes and Cells
Year: 2023

Typically, the structure of the robot fish frame significantly differs compared to the real organism. One significant difference is in the number of body segments. While live fish can have between 16 (moon fish) to 400 belt fish [1] segments, robots usually have only 5–6 segments since substantial precision is unnecessary when simulating movement. At the same time, this method limits a significant portion of the control circuit’s structure compared to a fish’s nervous system because it only requ