Design and implementation of a single actuated bio-mimetic robotic fish

The mechanical structure of a single actuated bio-mimetic robotic fish was designed based on forced vibration responses of a non-prismatic cantilever which mimicked the fish body deformation. To realize the cruising, turning and burst-and-coast moving modes, the hardware system based on the micro controller unit STM32F103C8T6 and the control were developed. The state variable feedback method and PID method were used to design the control algorithms respectively. The simulation and experimental results showed that the whole system could imitate the swimming of the real fish.