Agile gait generation for an anguilliform robotic fish

This paper provides a novel method towards imparting agility to the anguilliform robotic fish. The anguilliform robotic fishes are idealized to the real fishes using a series of N connected links to be closely approximated to their biological counterparts. To generate robot motion, torque are applied to the N-1 joints connecting any two consecutive links. There is high amount of interest among researchers in the development of robotic fishes which can specifically mimic anguilliform real fishes because of their high amounts of agility and ability to produce complex gaits. In this paper, we provide an innovative approach towards imparting similar agility into the robotic fishes. Later, we also perform simulations to validate the efficiency of this newly developed method.