The swimming backward for biomimetic carangiform robot fish is analyzed and implemented in this paper. The swimming law of the carangiform robot fish is modified according to the European Eel swimming mode based on the multiple-link structure to implement the backward motion. The motion mode difference between the eel and carangiform fish is discussed, and a qualitative kinematic analysis of th...

This paper considers the task of trajectory stabilization for a fish-like robot by means of feedback. We use oscillatory control inputs and apply correction signals at the endpoints of each periodic input signal. Such a strategy can be proven to cause the system to converge to a desired trajectory. We present a specific model of a planar carangiform fish, and verify the stabilization results wi...

this paper presents simplified hydrodynamics model for a biomimetic robot fish based on quantitative morphological and kinematic parameters of crangiform fish. the motion of four pangasius sanitwongsei with different length and swimming speed were recorded by the digital particle image velocimetry (dpiv) and image processing methods and optimal coefficients of the motion equations and appropria...

This paper studies a form of robotic fish movement that is analogous to the Carangiform style of swimming seen in nature. We propose a simple quasisteady fluid flow model for predicting the thrust generated by the flapping tail. We then describe an experimental system, consisting of a three-link robot, that has been constructed in order to study carangiform-like swimming. Experimental results o...

In this paper, we propose a modular approach to decompose the fish movement into several basic behaviours, namely straight cruise, cruise in turn and sharp turn, to mimic carangiform swimming of a real fish. To test these behaviours, a robotic fish is designed and built at Essex. It has 6 joints (R/C servo motors) and controlled by an efficiency control method. The experimental results show its...

In this paper, a carangiform robotic fish with 4-DoF (degree of freedom) tail has been developed. The robotic fish has capability of swimming under two modes that are radio control and autonomous swimming. Experiments were conducted to investigate the influences of characteristic parameters including the frequency, the amplitude, the wave length, the phase difference and the coefficient on forw...

This paper presents a novel approach to modelling carangiform fish-like swimming motion for multi-joint robotic fish so that they can obtain fish-like behaviours and mimic the body motion of carangiform fish. A given body motion function of fish swimming is firstly converted to a tail motion function which describes the tail motion relative to the head. Then, the tail motion function is discret...

This paper presents a novel dynamic model of a bio-inspired robotic fish underwater vehicle by unifying conventional rigid body dynamics and bio-fluid-dynamics of a carangiform fish swimming given by Lighthill’s (LH) slender body theory. It proposes an inclusive mathematical design for better control and energy efficient path travel for the robotic fish. The system is modeled as an 2-link robot...

Studies of center of mass (COM) motion are fundamental to understanding the dynamics of animal movement, and have been carried out extensively for terrestrial and aerial locomotion. But despite a large amount of literature describing different body movement patterns in fishes, analyses of how the center of mass moves during undulatory propulsion are not available. These data would be valuable f...

We describe an experimental testbed which we have constructed to study carangiform fish-like swimming. We mimic a carangiform fish with a three-link robot, the tailfin link of which acts as a flat-plate hydrofoil. We experiment with sinusoidal signals to the joint actuators. The experimental results agree well with a simulation assuming quasi-steady flow around the tailfin. 1. Motivation Many f...