Abstract
This paper focuses on the linear swimming motion of Carangiform fish and presents two novel prototypes: iSplash-I and iSplash-II, which have overcome some of the previously known challenges, in particular the straight line swimming speed of robotic fish. The first generation iSplash-I improved the kinematic pattern by deploying a full-body length swimming motion to coordinate anterior, mid-body, and posterior displacements. The second generation iSplash-II achieved consistent untethered stabilized swimming speeds of 11.6 BL/s (i.e., 3.7 m/s), with a frequency of 20 Hz during the field trials, outperforming real carangiform fish in terms of average maximum velocity (measured in body lengths/second) and endurance, the duration that top speed is maintained.
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Acknowledgments
Our thanks go to Richard Clapham senior for his technical assistance and financial contribution toward the project. This research was financially supported by a University of Essex Scholarship, as well as a research grant FI03005.
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Clapham, R.J., Hu, H. (2015). iSplash: Realizing Fast Carangiform Swimming to Outperform a Real Fish. In: Du, R., Li, Z., Youcef-Toumi, K., Valdivia y Alvarado, P. (eds) Robot Fish. Springer Tracts in Mechanical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-46870-8_7
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DOI: https://doi.org/10.1007/978-3-662-46870-8_7
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