Design of a free-swimming biomimetic robot fish

Abstract

This paper is concerned with the design of a radio-controlled, 4-link and free-swimming biomimetic robot fish based on a simplified kinematic propulsive model. The robot fish uses a flexible posterior body and an oscillating foil as a propulsor. The speed of the fish's swimming is adjusted by modulating joint's deflections. A closed-loop experimental robot fish system that uses a vision-based position system to provide feedback is finally developed, and corresponding test results confirm the effectiveness of the presented scheme.