Simulation Study of Fish Swimming Modes for Aquatic Robot System

摘要

In this paper, we show the simulation result to find the suitable fish swimming modes (especially BCF swimming) for fishlike underwater robot system. To find the suitable swimming modes, we assume that they have the same length, volume, and weight, but they have the different numbers of actuator (joint). And we use the minimum number of joint for each swimming mode. We derive the dynamic equation for each system using Kane’s method and these results are compared by the result of DADS. We present the optimal solution of swimming mode for some aquatic locomotion, especially faster (high propulsive efficiency) and more maneuverable (quick turning motion).