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Construction and modelling of a carangiform robotic fish

  • Chapter 6 Locomotion
  • Conference paper
  • First Online:
Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

We describe an experimental testbed which we have constructed to study carangiform fish-like swimming. We mimic a carangiform fish with a three-link robot, the tailfin link of which acts as a flat-plate hydrofoil. We experiment with sinusoidal signals to the joint actuators. The experimental results agree well with a simulation assuming quasi-steady flow around the tailfin.

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Author information

Authors and Affiliations

  1. California Institute of Technology, Pasadena, California, USA

    Richard Mason & Joel Burdick

Authors
  1. Richard Mason
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  2. Joel Burdick
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Corresponding authors

Correspondence to Richard Mason or Joel Burdick .

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© 2000 Springer-Verlag London Limited

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Mason, R., Burdick, J. (2000). Construction and modelling of a carangiform robotic fish. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119402

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  • DOI: https://doi.org/10.1007/BFb0119402

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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