Swimming of robotic fish based biologically-inspired approach

Robotic fish have gained much popularity in recent years. Almost of them is mainly controlled by biologically inspired approach. This paper presents an overview of control of the robotic fish. The robot have been designed and developed as a medium-sized Pearl Arowana robot combining studies of swimming movement, navigation, buoyancy. This paper describes the overall design and architecture of recently developed our robotic fish with the real-time controlling system generating swimming patterns. The robot is designed to be capable of undulatory swimming like fish in water. Both the structure and the controller of the robot are inspired by real fish. In particular, the swimming of the robot is controlled by master controller as PC that produces swimming waves of oscillations. We present the design considerations behind the robot and its controller. Experiments are carried out to identify the types of swimming oscillations that optimize speed during undulatory movement in water. In particular, the optimal frequency and amplitude are identified when the robot is swimming in water like as real fish for monitor and acquiring underwater environment.