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.
Construction and modelling of a carangiform robotic fish
Lect Notes Control Inf Sci
2008-04-30
8 pages
Article/Chapter (Book)
Electronic Resource
English
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