Development of Fish-like Swimming Behaviours for an Autonomous Robotic Fish

Abstract

In this paper, we propose a modular approach to decompose the fish movement into several basic behaviours, namely straight cruise, cruise in turn and sharp turn, to mimic carangiform swimming of a real fish. To test these behaviours, a robotic fish is designed and built at Essex. It has 6 joints (R/C servo motors) and controlled by an efficiency control method. The experimental results show its feasibility and good performance. 1