Optimized design and implementation of biomimetic robotic dolphin

This paper describes an overall design procedure for a free-swimming, radio-controlled, multi-link biomimetic robotic dolphin mimicking dorsoventral movement. The swimming performance of the robotic dolphin is determined by its morphological parameters and kinematic parameters. The thrust is produced by the up-down-motioned fluke, and the turning is achieved by its left-right-sided body deflecting. A 4-link, 550 mm-long robotic dolphin prototype is successfully developed in our laboratory and its basic motion abilities are measured and some data are analyzed which show some promising performance in aquatic environment