Design and implementation of swimming robot based on Carp fish biomimetic

Abstract

This paper introduces a complete plan for design and implementation of a biomimetic robotic fish. The robot design is physically based on a model of a Carp fish. The designed robot has a rigid anterior body part, flexible posterior body part and a flexible caudal fin. The flexible posterior body part is consists of four links and are driven by four servomotors in addition to a fifth one for controlling the robot pitch angle through changing the centre of gravity position. The designed robot was also equipped with diving system which consists of a water pump and an internal tank. The fish locomotion control is divided into speed, orientation, diving and transient motion control. The swimming of the robotic fish was relied on the so called behavioural based control system that makes use of a sensor fusion algorithm. The innovative design of the robotic fish combines the two schemes of the underwater vehicles or robots control in that it can swim autonomously or remotely controlled by a personal computer via WiFi link. The experimental results of the designed robotic fish show the excellent feasibility and high performance of the proposed design.