Dynamic Modeling of a Robotic Fish Propelled by a Compliant Tail

  title={Dynamic Modeling of a Robotic Fish Propelled by a Compliant Tail},
  author={Vladislav Kopman and Jeffrey Laut and Francesco Acquaviva and Alessandro Rizzo and Maurizio Porfiri},
  journal={IEEE Journal of Oceanic Engineering},
In this paper, a dynamic model for a robotic fish propelled by a tail with a flexible fin is presented. The robotic fish is composed of two links connected by an actuated joint; the frontal link is rigid and acts as the robotic fish body, while the rear link serves as the tail. The latter comprises a rigid element connected to a flexible caudal fin, whose underwater vibration is responsible for propulsion. The dynamics of the frontal link are described using Kirchhoff's equations of motion for… CONTINUE READING
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