Robotic Fish Design and Control Based on Biomechanics

Abstract This paper presents a theoretical framework on the design, modelling and control of a robotic fish inspired by the carangiform mode of swimming. The physical design of the robotic fish is obtained by trying to mimic the external anatomical features of a Tuna. To mimic the undulation of the fish posterior, a novel combination of manipulator link mechanism and a flexor-extensor mechanism has been used. The paper emphasizes the design and the modelling of this link mechanism and provides a kinematics model for the same. Dynamics modelling of the robotic system is based on Lagrangian methods. Finally we simulate a simple controller based on surface-swimming approximation of the developed dynamics model.

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