Mimicry of fish swimming patterns in a robotic fish

This paper¹, presents a novel approach for realizing Carangiform fish swimming patterns by a robotic fish. A video recording system is first set up to capture real fish behaviors. From robotic perspective, three basic Carangiform fish swimming patterns, “cruise”, “cruise in turning”, and “C sharp turning”, are extracted. Base on observations, the mapping between the fish action parts (angular displacements) and the fish swimming patterns are formulated. Hence, the three swimming motion patterns are implemented on a multi-joint robotic fish. Finally, the effectiveness of the approach is verified through experiment results.