Robot Fish Caudal Propulsive Mechanisms: A Mini-Review

Abstract

Researchers have developed numerous artificial fish to mimic the swimming abilities of biological species and understand their biomechanical subaquatic skills. The motivation arises from the interest to gain deeper comprehension of the efficient nature of biological locomotion, which is the result of millions of years of evolution and adaptation. Fin-based biological species developed exceptional swimming abilities and notable performance in highly dynamic and complex subaquatic environments. Therefore, based on research by the scientific community, this mini-review concentrates on discussing the mechanical devices developed to implement the caudal propulsive segments of robotic fish. Caudal mechanisms are of considerable interest because they may be designed to control inertial and gravitational forces, as well as exerting great dynamic range in robotic fish. This manuscript provides a concise review focused on the engineering implementations of caudal mechanisms of anguilliform, subcarangiform, subcarangiform, thunniform and ostraciiform swimming modes.