This paper presents the design, construction, operation, and validation of a robotic gantry
platform specifically designed for studying fish-robot interaction. The platform has five
degrees of freedom to manipulate the three-dimensional position, yaw angle, and the pitch
of a lure. Additionally, it has a four-conductor slip ring that allows power and data to be
transmitted to the lure for the operation of fins and other actuators that increase realism
or act as stimuli to focal fish during an ethorobotic experiment. The design is opensource, low-cost, and includes purpose-built electronics, software, and hardware to make
it extensible and customizable for a number of applications with varying requirements.
Open-source five degree of freedom motion platform for investigating fish-robot interaction