Analysis on the Robotic Fish Propulsion for Various Caudal Fin Shapes

Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


In this paper, propulsion characteristic of various shape caudal fin is analyzed. Using added mass theory, some caudal fins for robotic fish propulsion are analyzed. From this analysis, torque and propulsion characteristic for caudal fins with various shapes can be investigated. This method can be adopted to identify the caudal fin performance more simply and faster than computational method, although with less accuracy.


caudal fin added mass theory robotic fish 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Lauder, G.V., Maddeny, P.G.A.: Learning from fish: kinematics and experimental hydrodynamics for roboticists. International Journal of Automation and Computing 3, 325–335 (2006)CrossRefGoogle Scholar
  2. 2.
    Lauder, G.V., Madden, P.G.A.: Fish locomotion: kinematics and hydrodynamics of flexible foillike fins. Experiments in Fluids 43, 641–643 (2007)CrossRefGoogle Scholar
  3. 3.
    Low, K.: Modelling and parametric study of modular undulating fin rays for fish robots. Mechanism and Machine Theory 44, 615–632 (2009)MATHCrossRefGoogle Scholar
  4. 4.
    Lindsey, C.: Form, function, and locomotory habits in fish. Fish Physiology 7, 1–100 (1978)CrossRefGoogle Scholar
  5. 5.
    Sfakiotakis, M., Lane, D.M., Davies, J.B.C.: Review of Fish Swimming Modes for Aquatic Locomotion. IEEE Journal of Oceanic Engineering 24(2) (April 1999)Google Scholar
  6. 6.
    Yu, J., et al.: Development of a biomimetic robotic fish and its control algorithm. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 34, 1798–1810 (2004)CrossRefGoogle Scholar
  7. 7.
    Morgansen, K.A., et al.: Geometric methods for modeling and control of free-swimming finactuated underwater vehicles. IEEE Transactions on Robotics 23, 1184–1199 (2007)CrossRefGoogle Scholar
  8. 8.
    Chen, W., Xia, D., Liu, J.: Modular Design and Realization of a Torpedo-Shape Robot Fish. In: Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, pp. 125–130 (2008)Google Scholar
  9. 9.
    Hiara, K., Kawai, S., (November 26, 2001)
  10. 10.
    Webb and P, Is the high cost of body caudal fin undulatory swimming due to increased friction drag or inertial recoil Journal of experimental biology, vol.162, pp. 157–166 (1992)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Dept. of Robotics and MechatronicsKorea Institute of Machinery & MaterialsDaejeonKorea

Personalised recommendations