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The swimming backward method for biomimetic carangiform robotic fish is analyzed in this paper based on the dynamic/kinematic model. The equation of Lagrange of multi-link carangiform robotic fish and simplified fluid force are inducted to calculate the dynamic and kinematic characteristics of the motions. A specific gait is calculated to make the profile of the carangiform robotic fishpsilas undulation...
In this paper, a novel biomimetic robot fish FAC-I with 3-D locomotion is designed for underwater exploration and surveillance. It is equipped with CCD camera, infrared and pressure sensors to acquire the outside information. The robot fish has a tail thruster imitating the dolphin motion, a pair of pectoral fins and a buoyancy-adjusting mechanical structure BAMS. The tail thruster provides the main...
This paper proposes a kinematic modeling method for a bio-inspired robotic fish based on single joint. Lagrangian function of freely swimming robotic fish is built based on a simplified geometric model. In order to build the kinematic model, the fluid force acting on the robotic fish is divided into three parts: the pressure on links, the approach stream pressure and the frictional force. By solving...
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