Dolphin-like Swimming Modeling for a Biomimetic Amphibious Robot ⋆

Abstract: This paper focuses on a dolphin-like swimming hydrodynamics problem for a biomimetic amphibious robot capable of both fishand dolphin-like swimming modes. A Lagrangian reduction has been established in terms of rigid-body dynamics. For robust gait control, a central pattern generator-based approach is incorporated into the model serving as explicit joint angle control. Consequently, a simultaneous kinematics and dynamics system has been established to investigate the dolphin-like swimming. The rough comparisons between fishand dolphin-like propulsion are very promising, which verify the effectiveness of the proposed model and further provide an insight into more efficient underwater propulsor.