Study on Swimming Curve Fitting of Biomimetic Carangiform Robotic Fish

  • Baodong Lou
  • Yu Cong
  • Minghe MaoEmail author
  • Ping Wang
  • Jiangtao Liu
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 924)


At present, the biomimetic carangiform robotic fish with infinite flexible structure has not been presented. In order to facilitate the robotic fish swimming mode control, based on a finite flexible structure a number of rigid joints are used instead. In order to overcome the existing curve fitting method which endpoint of each joint falls on the swimming curve, causing the deviation between the fitting curve and the real swimming curve is larger. In this paper, a minimum error criterion is proposed to fit the swimming curve for a three-joint biomimetic carangiform robotic fish. Experimental results show that the proposed method which causes the endpoints of robotic fish moving joints not falling on the fitted swimming curve can obtain more accurate swimming motion according to the real fish than that uses the conventional endpoints-on-fitted-curve method. Moreover and thus, using the proposed method the swimming velocity of the robotic fish is improved rapidly.


Biomimetic carangiform robotic fish Curve fitting Motion equation Minimum error 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2018

Authors and Affiliations

  • Baodong Lou
    • 1
  • Yu Cong
    • 2
  • Minghe Mao
    • 3
    Email author
  • Ping Wang
    • 2
  • Jiangtao Liu
    • 1
  1. 1.School of Mechanical and Electrical EngineeringHohai UniversityNanjingChina
  2. 2.School of Energy and ElectricalHohai UniversityNanjingChina
  3. 3.School of Computer and InformationHohai UniversityNanjingChina

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