A novel method for simultaneous measurement of internal and external hydrodynamic force of self-propelled robotic fish

Hydrodynamic investigation of carangiform robotic fish has been carried out by using a novel experimental method. The laboratory robotic fish model which follows an exact replica of Saithe, is self-propelled on a servo towing system. The forward towing speed is determined by the fluid force acting upon the robotic fish, as the fish undulate its body in the water. The importance of the self-propelled method which allows for simultaneous measurement of internal and extern force and flow analysis of robotic fish has been demonstrated in the hydrodynamic experiment.