Experimental characterization of ostraciiform swimming with rigid caudal fins

Ostraciiform is the simplest swimming strategy in the aquatic environment. The bio-mimicking of this swimming mode makes it possible to be the alternative propulsion method for underwater vehicles. Both swimming thrust and steering can be controlled with the caudal fin; and the turning parameters are the flapping frequency and amplitude. In this research, experiments were conducted to characterize the properties of the ostraciiform mode using an ostraciiform fish mimicking robot. The dependence of the swimming velocity and turning rate on the flapping frequency and amplitude were explored to establish a mathematical relationship.