Robotic Fish Propulsion and Maneuvering Imitation Research and Design

Today robotic creatures’ development has been utilized for several purposes. There have been inventions about animalliked aquatic robots, however few works were found relating to the study of full behavioral movement of aquatic animals; anguilliform, carangiform, subcarangiform and thunniform. This paper presents a study and design of a robotic fish that simulate locomotion pattern of aquatic animals by focusing on the apparatus of swimming performances. The major research is the propelling and maneuvering movement of the robotic fish in aquatic environment. The robot could vigorously produce sequences of behavior selection network to perform various locomotive forms based on the operational situation, including avoiding obstacle, fish-liked maneuver; forward, backward and turning. The designed apparatus consisting of tail peduncle and pectoral fin for propelling, docking, and maneuvering allows fish-liked movements of the robotic fish. The implementation of the proposed robotic fish demonstrates a good performance in controlling the robotic fish to execute various motions.