Experiments in carangiform robotic fish locomotion

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.