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6. IT implementation
6.1 Technological constraints
For this type of project, where actuation and control systems are on-board, notions of size, weight and energy consumption are essential. Another aspect is the system cabling. The various power and data cables must not be allowed to reduce the eel's deformation capacity by introducing additional torques or forces to be overcome during movement.
To achieve the deformations of the eel's body, each joint is actuated by three motors located in one of the adjacent vertebrae 2.1
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