A robotic fish caudal fin: effects of stiffness and motor program on locomotor performance.


We designed a robotic fish caudal fin with six individually moveable fin rays based on the tail of the bluegill sunfish, Lepomis macrochirus. Previous fish robotic tail designs have loosely resembled the caudal fin of fishes, but have not incorporated key biomechanical components such as fin rays that can be controlled to generate complex tail conformations… (More)
DOI: 10.1242/jeb.062711



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