中国科学院自动化研究所机构知识库

This paper proposes a miniature biomimetic robotic fish based on a single joint, with a compact structure, high manoeuvrability and multiple sensors, and a model of freely swimming situation is built based on Lagrangian function. The robotic fish mimics the motion of Thunniform fish, and methods of propelling, turning and C-sharp turning are given. To model the motion of robotic fish, the fluid force acting on the robotic fish is divided into three parts. By solving Lagrange's equation of the second kind, the movement and motion parameters of robotic fish are obtained. Simulated results of motions are given, and experiments are carried out to verify the model.