Locomotion planning of biomimetic robotic fish with multi-joint actuation

This paper discusses the implementation of the biological fish swimming motion onto the biomimetic fish robots. The mechanism designs and the control methodologies might vary as the fundamental knowledge is learnt from different species of fish. However, all those systems can be divided into two major types in general, namely: serial open chain design and parallel mechanism design from an engineering viewpoint. The general solutions to the swimming motion planning for the type with parallel mechanism are discussed by using the kinematics equations, followed by the derivation of analytical gait control functions. The application of these solutions on a manta fish prototype and an eight-joint MPF (media and/or paired fin) fish prototype shows the good agreement with the proposed modeling in the steady swimming and forward/backward swimming.