Model-Based Feedback Control of Live Zebrafish Behavior via Interaction With a Robotic Replica

The possibility of regulating the behavior of live an- imals using biologically-inspired robots has attracted the interest of biologists and engineers for over 25 years. From early work on insects to recent endeavors on mammals, we have witnessed fasci- nating applications that have pushed forward our understanding of animal behavior along new directions. Despite significant progress, most of the research has focused on open-loop control systems, in which robots execute predetermined actions, independent of the animal behavior. In this article, we integrate mathematical model- ing of social behavior toward the design of realistic feedback laws for robots to interact with a live animal. In particular, we leverage recent advancements in data-driven modeling of zebrafish behav- ior. Ultimately, we establish a novel robotic platform that allows real-time actuation of a biologically-inspired three-dimensionally printed zebrafish replica to implement model-based control of animal behavior. We demonstrate our approach through a series of experiments, designed to elucidate the appraisal of the replica by live subjects with respect to conspecifics and to quantify the biological value of closed-loop control.