Swimming Motion Control for Biometric Fish Robot by Utilizing Turning Coefficient

In this paper turning coefficient had been utilize for the swimming motion equation of a biometric fish robot. The swimming equation based on Carangiform Wave is cascaded with the arc equation to change the oscillating axis during turning movement (Chao Zhou). Usually turning movement is generated by defining the turning radius of the arc equation to bend the Carangiform oscillating axis. This involves the computation of turning radius power of two and infinite radius value during straight movement. Thus turning coefficient had been introduced to the arc equation to simplify the computation process and the turning coefficient can set as zero during straight movement. With the implementation of turning coefficient, the turning radius is fixed at a minimum value. This reduces the computational time of about 9% and maintaining the ability to perform smooth turning movement. Infrared sensor provides environment feedback for altering the turning coefficient linearly. The rate of change for the turning coefficient can be adjusted to define the sensitivities of the fish reacting to the environment.