In this paper, a physics-based model is proposed for a biomimetic robotic fish propelled by an ionic polymer–metal composite (IPMC) actuator. Inspired by the biological fin structure, a passive plastic fin is further attached to the IPMC beam. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state cruising speed of the robot under a given period...

Design and Implementation of a Biomimetic Robotic Fish Hongan Wang The study of biomimetic robotic fish has received a growing amount of research interest in the past several years. This thesis describes the development and testing of a novel mechanical design of a biomimetic robotic fish. The robotic fish has a structure which uses oscillating caudal fins and a pair of pectoral fins to generat...

This special issue focuses on the following topic areas: i Biomimetics and locomotion, ii mobile vehicles, iii human-robot systems and haptic interfaces, and iv novel systems modeling and analysis. We believe that this special issue provides a compilation of the most recent developments in the field of robotics and will be an important source of information for current and future researchers. B...

In nature, fish have the ability to localize prey, school, navigate, etc. using the lateral-line organ [1]. Here we present the use of biomimetic artificial hair-based flow-sensors arranged as lateral-line system in combination with beamforming techniques for dipole source localization in air. Modelling and measurement results show the artificial lateral-line ability to image the position of di...

In Nature, fish have the ability to localize prey, school, navigate, etc., using the lateral-line organ. Artificial hair flow sensors arranged in a linear array shape (inspired by the lateral-line system (LSS) in fish) have been applied to measure airflow patterns at the sensor positions. Here, we take advantage of both biomimetic artificial hair-based flow sensors arranged as LSS and beamformi...

This paper presents a study on bioinspired closed-loop Central Pattern Generator (CPG) based control of robot fish for obstacle avoidance and direction tracking. The biomimetic is made rigid head with pair pectoral fins, wire-driven active body covered soft skin, compliant tail. CPG model consists four input parameters: the flapping amplitude, angular velocity, offset, time ratio between beat p...

The performance of the steady-turning while swimming, and sharp-turning motion algorithms a biomimetic underwater robot in form fish is presented this work. biological modelled Mackerel - Scomber scombrus. It’s patterns are precalculated programmed into its firmware as an inflexible algorithm to save power consumption due continuous motor position recalculations. tail six segments plywood panel...

The use of silicone as an actuator that could serve as an artificial muscle to power underwater vehicles was analyzed. Muscles have attributes that are highly desirable for use in biomimetic underwater robots mimicking fish. They allow a more elegant design, optimized to move in the best way to produce thrust. Current artificial muscles are often inefficient, either in terms of power or in the ...

In recent years, there is a rising interest on studying biomimetic fish-like underwater robots because of advantages from mimicking real fish's great maneuverability and high energy efficiency. However, researches about these kinds of underwater robots have not been investigated so much and there are still diverse problems in respect of using of the robotic fish in the real environment such as ...