Analysis on modes switch of bio-robotic fish adaptive swimming

Based on the inspiration of fish adaptability, this paper proposed the modes switching strategy for robotic fish to adapt to the different environment. Bio-neural network based on the oscillators is developed to solve the switch problem between different modes, simulating the crucian´s swimming behavior in changeable environment. And this bio-neural network shows its superiority in solving the switching problem. This paper developed the underwater vehicles simulated the body and/or caudal fin mode to verify the continuous switch for robotic fish adapting to the environment. Besides, the experiment and simulated result shows the advantages of bio-neural network in energy consumption and reaction with water flow.