Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin

Due to the unique locomotion, head-shaking problem of biomimetic robotic fish inevitably occurs during rectilinear which strongly hinders its practical applications. In this paper, we experimentally study by proposing method coordination control between caudal fin and anal fin. First, an untethered fish, equipped with fin, a two pectoral fins, is developed as experimental platform. Second, Central Pattern Generator (CPG)-based controller used coordinate motions Third, extensive experiments are conducted explore different combinations flapping frequencies, amplitudes, phase differences Notably, through proper amplitude yaw motion can be small 4.32°, sees 65% improvement compared scenario without 57% that stationary This paper provides novel way alleviate for first test on untethered, freely swimming platform, shed light development underwater robotics.