Swimming performance of a robotic fish in both straight swimming and making a turn

In this paper, we present a novel robotic fish capable of maneuverability and yet with less joints. The maneuverability of the robotic fish is researched on two aspects: straight swimming and performing a turn before which, the mechanical structure, dynamic formula and posture of robotic fish are respectively designed and analyzed. Besides, the CPG-based control and the analysis of variation regulation in the oscillation amplitude of the fish tail are combined to determine the posture of the robotic fish. Next, underwater tests are performed on the robotic fish for collecting the data which provides the information to draw many conclusions.