Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish

@article{Yang2009KinematicsMA,
  title={Kinematics Modeling and Experiments of Pectoral Oscillation Propulsion Robotic Fish},
  author={Shao-bo Yang and Jing Qiu and Xiao-yun Han},
  journal={Journal of Bionic Engineering},
  year={2009},
  volume={6},
  pages={174-179}
}
A robotic fish driven by oscillating fins, “Cownose Ray-I”, is developed, which is in dorsoventrally flattened shape without a tail. The robotic fish is composed of a body and two lateral fins. A three-factor kinematic model is established and used in the design of a mechanism. By controlling the three kinematic parameters, the robotic fish can accelerate and maneuver. Forward velocity is dependent on the largest amplitude and the number of waves in the fins, while the relative contribution of… CONTINUE READING

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