Proposition of new control method of Eel-like swimming robot for swimming in narrow water ways

Abstract

Eels wiggle their long and thin body in swimming. This form is called ldquoAnguilhform swimmingrdquo. Their body is not only a thrust mechanism but also a helm. The method of Anguilhform swimming has features that can accelerate easily and stop instantaneously, compared to method using a screw propeller. And this method has also advantage to be able to whirl around immediately. We think that this advantage will be of much help to swim in a narrow space. We developed an Eel-like swimming robot that swims by Anguilhform swimming. And we assume that Eel-like swimming robot swim in a narrow space, investigated that swimming performance in a narrow water way.