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Experiments in carangiform robotic fish locomotion

Mason, Richard and Burdick, Joel W. (2000) Experiments in carangiform robotic fish locomotion. In: 2000 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 428-435. ISBN 0-7803-5886-4.

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This paper studies a form of robotic fish movement that is analogous to the carangiform style of swimming seen in nature. We propose a simple quasi-steady fluid flow model for predicting the thrust generated by the flapping tail. We then describe an experimental system, consisting of a three-link robot, that has been constructed in order to study carangiform-like swimming. Experimental results obtained with this system suggest that the simplified propulsion model is reasonably accurate. The input parameters that realize optimum thrust are experimentally determined. Finally, we consider some issues in maneuvering.

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Additional Information:© 2000 IEEE. Date of Current Version: 06 August 2002.
Record Number:CaltechAUTHORS:20111130-082001294
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Official Citation:Mason, R.; Burdick, J.W.; , "Experiments in carangiform robotic fish locomotion," Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on , vol.1, no., pp.428-435 vol.1, 2000 doi: 10.1109/ROBOT.2000.844093 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:28239
Deposited By: Tony Diaz
Deposited On:19 Jan 2012 18:53
Last Modified:09 Nov 2021 16:55

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