iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion

Conference paper

DOI: 10.1007/978-3-319-08338-4_91

Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)
Cite this paper as:
Clapham R.J., Hu H. (2016) iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion. In: Menegatti E., Michael N., Berns K., Yamaguchi H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham


This paper presents a new robotic fish, iSplash-OPTIMIZE, which is 0.6 m in body length and deploys a single actuator to drive discrete links across the full-body length. The main focus is on optimizing the kinematics parameters of its linear carangiform swimming motion in order to improve the distance travelled per beat. The experimental results show that the fish can be actuated at high frequencies up to 20 Hz due to deploying a continuous rotary power source. Each discrete link is able to be precisely tuned, providing accurate kinematics with little mechanical loss.


Robotic fish Carangiform swimming Mechanical drive system  Full-Body length 

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.School of Computer Science and Electronic EngineeringUniversity of EssexColchesterUK

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